New version of btCudaBroadphase compatible with Bullet and better performance
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rponom
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589
Extras/CUDA/btCudaBroadphase.cu
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589
Extras/CUDA/btCudaBroadphase.cu
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/*
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* Copyright 1993-2006 NVIDIA Corporation. All rights reserved.
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*
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* NOTICE TO USER:
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*
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* This source code is subject to NVIDIA ownership rights under U.S. and
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* international Copyright laws.
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*
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* NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
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* CODE FOR ANY PURPOSE. IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
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* IMPLIED WARRANTY OF ANY KIND. NVIDIA DISCLAIMS ALL WARRANTIES WITH
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* REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
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* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
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* IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
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* OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
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* OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
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* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
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* OR PERFORMANCE OF THIS SOURCE CODE.
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*
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* U.S. Government End Users. This source code is a "commercial item" as
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* that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting of
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* "commercial computer software" and "commercial computer software
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* documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
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* and is provided to the U.S. Government only as a commercial end item.
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* Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
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* 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
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* source code with only those rights set forth herein.
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*/
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#include <cstdlib>
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#include <cstdio>
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#include <string.h>
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#include "cutil_math.h"
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#include "math_constants.h"
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#if defined(__APPLE__) || defined(MACOSX)
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include <cuda_gl_interop.h>
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#include "btCudaBroadphaseKernel.h"
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//#include "radixsort.cu"
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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// K E R N E L F U N C T I O N S
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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#ifdef __DEVICE_EMULATION__
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#define B_CUDA_USE_TEX 0
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#else
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#define B_CUDA_USE_TEX 1
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#endif
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__device__ inline btCuda3F1U tex_fetch3F1U(float4 a) { return *((btCuda3F1U*)(&a)); }
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#if B_CUDA_USE_TEX
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#define FETCH(t, i) tex_fetch3F1U(tex1Dfetch(t##Tex, i))
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#else
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#define FETCH(t, i) t[i]
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#endif
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texture<uint2, 1, cudaReadModeElementType> particleHashTex;
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texture<uint, 1, cudaReadModeElementType> cellStartTex;
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texture<float4, 1, cudaReadModeElementType> pAABBTex;
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//----------------------------------------------------------------------------------------
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__constant__ btCudaBroadphaseParams params;
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//----------------------------------------------------------------------------------------
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// calculate position in uniform grid
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__device__ int3 btCuda_calcGridPos(float4 p)
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{
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int3 gridPos;
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gridPos.x = floor((p.x - params.m_worldOriginX) / params.m_cellSizeX);
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gridPos.y = floor((p.y - params.m_worldOriginY) / params.m_cellSizeY);
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gridPos.z = floor((p.z - params.m_worldOriginZ) / params.m_cellSizeZ);
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return gridPos;
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}
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//----------------------------------------------------------------------------------------
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// calculate address in grid from position (clamping to edges)
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__device__ uint btCuda_calcGridHash(int3 gridPos)
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{
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gridPos.x = max(0, min(gridPos.x, params.m_gridSizeX - 1));
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gridPos.y = max(0, min(gridPos.y, params.m_gridSizeY - 1));
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gridPos.z = max(0, min(gridPos.z, params.m_gridSizeZ - 1));
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return __mul24(__mul24(gridPos.z, params.m_gridSizeY), params.m_gridSizeX) + __mul24(gridPos.y, params.m_gridSizeX) + gridPos.x;
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}
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//----------------------------------------------------------------------------------------
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// calculate grid hash value for each body using its AABB
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__global__ void calcHashAABBD(btCuda3F1U* pAABB, uint2* pHash, uint numBodies)
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{
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int index = __mul24(blockIdx.x, blockDim.x) + threadIdx.x;
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if(index >= numBodies)
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{
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return;
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}
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btCuda3F1U bbMin = pAABB[index*2];
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btCuda3F1U bbMax = pAABB[index*2 + 1];
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float4 pos;
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pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
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pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
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pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
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// get address in grid
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int3 gridPos = btCuda_calcGridPos(pos);
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uint gridHash = btCuda_calcGridHash(gridPos);
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// store grid hash and body index
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pHash[index] = make_uint2(gridHash, index);
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}
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//----------------------------------------------------------------------------------------
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__global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies)
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{
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int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
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if(index >= numBodies)
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{
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return;
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}
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uint2 sortedData = pHash[index];
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// Load hash data into shared memory so that we can look
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// at neighboring body's hash value without loading
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// two hash values per thread
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__shared__ uint sharedHash[257];
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sharedHash[threadIdx.x+1] = sortedData.x;
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if((index > 0) && (threadIdx.x == 0))
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{
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// first thread in block must load neighbor body hash
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volatile uint2 prevData = pHash[index-1];
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sharedHash[0] = prevData.x;
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}
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__syncthreads();
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if((index == 0) || (sortedData.x != sharedHash[threadIdx.x]))
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{
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cellStart[sortedData.x] = index;
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}
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}
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//----------------------------------------------------------------------------------------
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__device__ uint cudaTestAABBOverlap(btCuda3F1U min0, btCuda3F1U max0, btCuda3F1U min1, btCuda3F1U max1)
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{
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return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) &&
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(min0.fy <= max1.fy)&& (min1.fy <= max0.fy) &&
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(min0.fz <= max1.fz)&& (min1.fz <= max0.fz);
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}
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//----------------------------------------------------------------------------------------
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__device__ void findPairsInCell(int3 gridPos,
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uint index,
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uint2* pHash,
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uint* pCellStart,
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btCuda3F1U* pAABB,
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uint* pPairBuff,
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uint2* pPairBuffStartCurr,
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uint numBodies)
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{
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if ( (gridPos.x < 0) || (gridPos.x > params.m_gridSizeX - 1)
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|| (gridPos.y < 0) || (gridPos.y > params.m_gridSizeY - 1)
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|| (gridPos.z < 0) || (gridPos.z > params.m_gridSizeZ - 1))
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{
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return;
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}
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uint gridHash = btCuda_calcGridHash(gridPos);
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// get start of bucket for this cell
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uint bucketStart = pCellStart[gridHash];
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if (bucketStart == 0xffffffff)
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{
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return; // cell empty
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}
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// iterate over bodies in this cell
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uint2 sortedData = pHash[index];
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uint unsorted_indx = sortedData.y;
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btCuda3F1U min0 = FETCH(pAABB, unsorted_indx*2);
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btCuda3F1U max0 = FETCH(pAABB, unsorted_indx*2 + 1);
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uint handleIndex = min0.uw;
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uint2 start_curr = pPairBuffStartCurr[handleIndex];
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uint start = start_curr.x;
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uint curr = start_curr.y;
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uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
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uint curr_max = start_curr_next.x - start - 1;
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uint bucketEnd = bucketStart + params.m_maxBodiesPerCell;
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bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd;
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for(uint index2 = bucketStart; index2 < bucketEnd; index2++)
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{
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uint2 cellData = pHash[index2];
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if (cellData.x != gridHash)
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{
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break; // no longer in same bucket
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}
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uint unsorted_indx2 = cellData.y;
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if (unsorted_indx2 < unsorted_indx) // check not colliding with self
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{
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btCuda3F1U min1 = FETCH(pAABB, unsorted_indx2*2);
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btCuda3F1U max1 = FETCH(pAABB, unsorted_indx2*2 + 1);
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if(cudaTestAABBOverlap(min0, max0, min1, max1))
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{
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uint handleIndex2 = min1.uw;
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uint k;
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for(k = 0; k < curr; k++)
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{
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uint old_pair = pPairBuff[start+k] & (~BT_CUDA_PAIR_ANY_FLG);
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if(old_pair == handleIndex2)
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{
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pPairBuff[start+k] |= BT_CUDA_PAIR_FOUND_FLG;
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break;
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}
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}
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if(k == curr)
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{
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pPairBuff[start+curr] = handleIndex2 | BT_CUDA_PAIR_NEW_FLG;
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if(curr >= curr_max)
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{ // not a good solution, but let's avoid crash
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break;
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}
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curr++;
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}
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}
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}
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}
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pPairBuffStartCurr[handleIndex] = make_uint2(start, curr);
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return;
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}
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//----------------------------------------------------------------------------------------
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__global__ void
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findOverlappingPairsD( btCuda3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
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uint2* pPairBuffStartCurr, uint numBodies)
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{
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int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
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if(index >= numBodies)
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{
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return;
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}
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uint2 sortedData = pHash[index];
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uint unsorted_indx = sortedData.y;
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btCuda3F1U bbMin = FETCH(pAABB, unsorted_indx*2);
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btCuda3F1U bbMax = FETCH(pAABB, unsorted_indx*2 + 1);
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float4 pos;
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pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
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pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
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pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
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// get address in grid
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int3 gridPos = btCuda_calcGridPos(pos);
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// examine only neighbouring cells
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for(int z=-1; z<=1; z++) {
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for(int y=-1; y<=1; y++) {
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for(int x=-1; x<=1; x++) {
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findPairsInCell(gridPos + make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies);
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}
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}
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}
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}
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//----------------------------------------------------------------------------------------
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__global__ void
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findPairsLargeD( btCuda3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
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uint2* pPairBuffStartCurr, uint numBodies, uint numLarge)
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{
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int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
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if(index >= numBodies)
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{
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return;
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}
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uint2 sortedData = pHash[index];
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uint unsorted_indx = sortedData.y;
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btCuda3F1U min0 = FETCH(pAABB, unsorted_indx*2);
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btCuda3F1U max0 = FETCH(pAABB, unsorted_indx*2 + 1);
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uint handleIndex = min0.uw;
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uint2 start_curr = pPairBuffStartCurr[handleIndex];
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uint start = start_curr.x;
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uint curr = start_curr.y;
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uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
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uint curr_max = start_curr_next.x - start - 1;
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for(uint i = 0; i < numLarge; i++)
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{
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uint indx2 = numBodies + i;
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btCuda3F1U min1 = FETCH(pAABB, indx2*2);
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btCuda3F1U max1 = FETCH(pAABB, indx2*2 + 1);
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if(cudaTestAABBOverlap(min0, max0, min1, max1))
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{
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uint k;
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uint handleIndex2 = min1.uw;
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for(k = 0; k < curr; k++)
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{
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uint old_pair = pPairBuff[start+k] & (~BT_CUDA_PAIR_ANY_FLG);
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if(old_pair == handleIndex2)
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{
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pPairBuff[start+k] |= BT_CUDA_PAIR_FOUND_FLG;
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break;
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}
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}
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if(k == curr)
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{
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pPairBuff[start+curr] = handleIndex2 | BT_CUDA_PAIR_NEW_FLG;
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if(curr >= curr_max)
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{ // not a good solution, but let's avoid crash
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break;
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}
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curr++;
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}
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}
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}
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pPairBuffStartCurr[handleIndex] = make_uint2(start, curr);
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return;
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}
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//----------------------------------------------------------------------------------------
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__global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, btCuda3F1U* pAABB, uint numBodies)
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{
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int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
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if(index >= numBodies)
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{
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return;
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}
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btCuda3F1U bbMin = pAABB[index * 2];
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uint handleIndex = bbMin.uw;
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uint2 start_curr = pPairBuffStartCurr[handleIndex];
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uint start = start_curr.x;
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uint curr = start_curr.y;
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uint *pInp = pPairBuff + start;
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uint num_changes = 0;
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for(uint k = 0; k < curr; k++, pInp++)
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{
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if(!((*pInp) & BT_CUDA_PAIR_FOUND_FLG))
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{
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num_changes++;
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}
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}
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pPairScan[index+1] = num_changes;
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}
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//----------------------------------------------------------------------------------------
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__global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, btCuda3F1U* pAABB, uint numBodies)
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{
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int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
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if(index >= numBodies)
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{
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return;
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}
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btCuda3F1U bbMin = pAABB[index * 2];
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uint handleIndex = bbMin.uw;
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uint2 start_curr = pPairBuffStartCurr[handleIndex];
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uint start = start_curr.x;
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uint curr = start_curr.y;
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uint* pInp = pPairBuff + start;
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uint* pOut = pPairOut + pPairScan[index];
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uint* pOut2 = pInp;
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uint num = 0;
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for(uint k = 0; k < curr; k++, pInp++)
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{
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if(!((*pInp) & BT_CUDA_PAIR_FOUND_FLG))
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{
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*pOut = *pInp;
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pOut++;
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}
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if((*pInp) & BT_CUDA_PAIR_ANY_FLG)
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{
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*pOut2 = (*pInp) & (~BT_CUDA_PAIR_ANY_FLG);
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pOut2++;
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num++;
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}
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}
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pPairBuffStartCurr[handleIndex] = make_uint2(start, num);
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} // squeezeOverlappingPairBuffD()
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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||||
// E N D O F K E R N E L F U N C T I O N S
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//----------------------------------------------------------------------------------------
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||||
//----------------------------------------------------------------------------------------
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||||
//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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||||
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//! Check for CUDA error
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# define CUT_CHECK_ERROR(errorMessage) do { \
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cudaError_t err = cudaGetLastError(); \
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if( cudaSuccess != err) { \
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fprintf(stderr, "Cuda error: %s in file '%s' in line %i : %s.\n", \
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errorMessage, __FILE__, __LINE__, cudaGetErrorString( err) );\
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btCuda_exit(EXIT_FAILURE); \
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} \
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err = cudaThreadSynchronize(); \
|
||||
if( cudaSuccess != err) { \
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fprintf(stderr, "Cuda error: %s in file '%s' in line %i : %s.\n", \
|
||||
errorMessage, __FILE__, __LINE__, cudaGetErrorString( err) );\
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btCuda_exit(EXIT_FAILURE); \
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} } while (0)
|
||||
|
||||
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||||
# define MY_CUDA_SAFE_CALL_NO_SYNC( call) do { \
|
||||
cudaError err = call; \
|
||||
if( cudaSuccess != err) { \
|
||||
fprintf(stderr, "Cuda error in file '%s' in line %i : %s.\n", \
|
||||
__FILE__, __LINE__, cudaGetErrorString( err) ); \
|
||||
btCuda_exit(EXIT_FAILURE); \
|
||||
} } while (0)
|
||||
|
||||
# define MY_CUDA_SAFE_CALL( call) do { \
|
||||
MY_CUDA_SAFE_CALL_NO_SYNC(call); \
|
||||
cudaError err = cudaThreadSynchronize(); \
|
||||
if( cudaSuccess != err) { \
|
||||
fprintf(stderr, "Cuda errorSync in file '%s' in line %i : %s.\n", \
|
||||
__FILE__, __LINE__, cudaGetErrorString( err) ); \
|
||||
btCuda_exit(EXIT_FAILURE); \
|
||||
} } while (0)
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void btCuda_exit(int val)
|
||||
{
|
||||
exit(val);
|
||||
}
|
||||
|
||||
void btCuda_allocateArray(void** devPtr, unsigned int size)
|
||||
{
|
||||
MY_CUDA_SAFE_CALL(cudaMalloc(devPtr, size));
|
||||
}
|
||||
|
||||
void btCuda_freeArray(void* devPtr)
|
||||
{
|
||||
MY_CUDA_SAFE_CALL(cudaFree(devPtr));
|
||||
}
|
||||
|
||||
void btCuda_copyArrayFromDevice(void* host, const void* device, unsigned int size)
|
||||
{
|
||||
MY_CUDA_SAFE_CALL(cudaMemcpy(host, device, size, cudaMemcpyDeviceToHost));
|
||||
}
|
||||
|
||||
void btCuda_copyArrayToDevice(void* device, const void* host, unsigned int size)
|
||||
{
|
||||
MY_CUDA_SAFE_CALL(cudaMemcpy((char*)device, host, size, cudaMemcpyHostToDevice));
|
||||
}
|
||||
|
||||
void btCuda_setParameters(btCudaBroadphaseParams* hostParams)
|
||||
{
|
||||
// copy parameters to constant memory
|
||||
MY_CUDA_SAFE_CALL(cudaMemcpyToSymbol(params, hostParams, sizeof(btCudaBroadphaseParams)));
|
||||
}
|
||||
|
||||
//Round a / b to nearest higher integer value
|
||||
int btCuda_iDivUp(int a, int b)
|
||||
{
|
||||
return (a % b != 0) ? (a / b + 1) : (a / b);
|
||||
}
|
||||
|
||||
// compute grid and thread block size for a given number of elements
|
||||
void btCuda_computeGridSize(int n, int blockSize, int &numBlocks, int &numThreads)
|
||||
{
|
||||
numThreads = min(blockSize, n);
|
||||
numBlocks = btCuda_iDivUp(n, numThreads);
|
||||
}
|
||||
|
||||
void btCuda_calcHashAABB(btCuda3F1U* pAABB, unsigned int* hash, unsigned int numBodies)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
calcHashAABBD<<< numBlocks, numThreads >>>(pAABB, (uint2*)hash, numBodies);
|
||||
// check if kernel invocation generated an error
|
||||
CUT_CHECK_ERROR("calcHashAABBD kernel execution failed");
|
||||
}
|
||||
|
||||
void btCuda_findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
|
||||
MY_CUDA_SAFE_CALL(cudaMemset(cellStart, 0xffffffff, numCells*sizeof(uint)));
|
||||
findCellStartD<<< numBlocks, numThreads >>>((uint2*)hash, (uint*)cellStart, numBodies);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: findCellStartD");
|
||||
}
|
||||
|
||||
void btCuda_findOverlappingPairs( btCuda3F1U* pAABB, unsigned int* pHash,
|
||||
unsigned int* pCellStart,
|
||||
unsigned int* pPairBuff,
|
||||
unsigned int* pPairBuffStartCurr,
|
||||
unsigned int numBodies)
|
||||
{
|
||||
#if B_CUDA_USE_TEX
|
||||
MY_CUDA_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(btCuda3F1U)));
|
||||
#endif
|
||||
int numThreads, numBlocks;
|
||||
btCuda_computeGridSize(numBodies, 64, numBlocks, numThreads);
|
||||
findOverlappingPairsD<<< numBlocks, numThreads >>>(
|
||||
pAABB,
|
||||
(uint2*)pHash,
|
||||
(uint*)pCellStart,
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
numBodies
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD");
|
||||
#if B_CUDA_USE_TEX
|
||||
MY_CUDA_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
#endif
|
||||
} // btCuda_findOverlappingPairs()
|
||||
|
||||
|
||||
|
||||
void btCuda_findPairsLarge( btCuda3F1U* pAABB, unsigned int* pHash,
|
||||
unsigned int* pCellStart,
|
||||
unsigned int* pPairBuff,
|
||||
unsigned int* pPairBuffStartCurr,
|
||||
unsigned int numBodies,
|
||||
unsigned int numLarge)
|
||||
{
|
||||
#if B_CUDA_USE_TEX
|
||||
MY_CUDA_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(btCuda3F1U)));
|
||||
#endif
|
||||
int numThreads, numBlocks;
|
||||
btCuda_computeGridSize(numBodies, 64, numBlocks, numThreads);
|
||||
findPairsLargeD<<< numBlocks, numThreads >>>(
|
||||
pAABB,
|
||||
(uint2*)pHash,
|
||||
(uint*)pCellStart,
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
numBodies,
|
||||
numLarge
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD");
|
||||
#if B_CUDA_USE_TEX
|
||||
MY_CUDA_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
#endif
|
||||
} // btCuda_findPairsLarge()
|
||||
|
||||
|
||||
|
||||
void btCuda_computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr,
|
||||
unsigned int* pPairScan, btCuda3F1U* pAABB, unsigned int numBodies)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
|
||||
computePairCacheChangesD<<< numBlocks, numThreads >>>(
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
(uint*)pPairScan,
|
||||
pAABB,
|
||||
numBodies
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
|
||||
} // btCuda_computePairCacheChanges()
|
||||
|
||||
|
||||
void btCuda_squeezeOverlappingPairBuff( unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan,
|
||||
unsigned int* pPairOut, btCuda3F1U* pAABB, unsigned int numBodies)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
|
||||
squeezeOverlappingPairBuffD<<< numBlocks, numThreads >>>(
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
(uint*)pPairScan,
|
||||
(uint*)pPairOut,
|
||||
pAABB,
|
||||
numBodies
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
|
||||
} // btCuda_squeezeOverlappingPairBuff()
|
||||
|
||||
|
||||
} // extern "C"
|
||||
@@ -18,169 +18,95 @@ subject to the following restrictions:
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
|
||||
|
||||
#include "btCudaBroadphaseKernel.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;
|
||||
|
||||
bool m_bInitialized;
|
||||
unsigned int m_numBodies;
|
||||
unsigned int m_numCells;
|
||||
unsigned int m_maxPairsPerBody;
|
||||
btScalar m_cellFactorAABB;
|
||||
// CPU data
|
||||
unsigned int* m_hBodiesHash;
|
||||
unsigned int* m_hCellStart;
|
||||
unsigned int* m_hPairBuffStartCurr;
|
||||
float* m_hAABB;
|
||||
|
||||
btCuda3F1U* m_hAABB;
|
||||
unsigned int* m_hPairBuff;
|
||||
unsigned int* m_hPairScan;
|
||||
unsigned int* m_hPairOut;
|
||||
|
||||
// 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;
|
||||
|
||||
// buffers on GPU
|
||||
unsigned int* m_dBodiesHash[2];
|
||||
unsigned int* m_dCellStart;
|
||||
unsigned int* m_dPairBuff;
|
||||
unsigned int* m_dPairBuffStartCurr;
|
||||
float* m_dAABB;
|
||||
|
||||
btCuda3F1U* m_dAABB;
|
||||
unsigned int* m_dPairScan;
|
||||
unsigned int* m_dPairOut;
|
||||
|
||||
// params
|
||||
struct SimParams& m_simParams;
|
||||
|
||||
|
||||
|
||||
unsigned int m_maxParticlesPerCell;
|
||||
unsigned int m_maxBodiesPerCell;
|
||||
btCudaBroadphaseParams m_params;
|
||||
btScalar m_maxRadius;
|
||||
// large proxies
|
||||
int m_numLargeHandles;
|
||||
int m_maxLargeHandles;
|
||||
int m_LastLargeHandleIndex;
|
||||
btSimpleBroadphaseProxy* m_pLargeHandles;
|
||||
void* m_pLargeHandlesRawPtr;
|
||||
int m_firstFreeLargeHandle;
|
||||
int allocLargeHandle()
|
||||
{
|
||||
btAssert(m_numLargeHandles < m_maxLargeHandles);
|
||||
int freeLargeHandle = m_firstFreeLargeHandle;
|
||||
m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
|
||||
m_numLargeHandles++;
|
||||
if(freeLargeHandle > m_LastLargeHandleIndex)
|
||||
{
|
||||
m_LastLargeHandleIndex = freeLargeHandle;
|
||||
}
|
||||
return freeLargeHandle;
|
||||
}
|
||||
void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
|
||||
{
|
||||
int handle = int(proxy - m_pLargeHandles);
|
||||
btAssert((handle >= 0) && (handle < m_maxHandles));
|
||||
if(handle == m_LastLargeHandleIndex)
|
||||
{
|
||||
m_LastLargeHandleIndex--;
|
||||
}
|
||||
proxy->SetNextFree(m_firstFreeLargeHandle);
|
||||
m_firstFreeLargeHandle = handle;
|
||||
proxy->m_clientObject = 0;
|
||||
m_numLargeHandles--;
|
||||
}
|
||||
bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
bool isLargeProxy(btBroadphaseProxy* proxy);
|
||||
|
||||
// debug
|
||||
unsigned int m_numPairsAdded;
|
||||
unsigned int m_maxPairsPerParticle;
|
||||
unsigned int m_numPairsRemoved;
|
||||
unsigned int m_numOverflows;
|
||||
|
||||
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);
|
||||
|
||||
btCudaBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
|
||||
int gridSizeX, int gridSizeY, int gridSizeZ,
|
||||
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
|
||||
int maxBodiesPerCell = 8,
|
||||
btScalar cellFactorAABB = btScalar(1.0f));
|
||||
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();
|
||||
|
||||
|
||||
void findOverlappingPairs(btDispatcher* dispatcher);
|
||||
|
||||
int3 calcGridPosCPU(float4 p);
|
||||
uint calcGridHashCPU(int3 gridPos);
|
||||
|
||||
void computePairCacheChangesCPU(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint numParticles);
|
||||
void computePairCacheChangesCPU_D(uint index, uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan);
|
||||
|
||||
void findOverlappingPairsCPU( float* pAABB,
|
||||
uint* pParticleHash,
|
||||
uint* pCellStart,
|
||||
uint* pPairBuff,
|
||||
uint* pPairBuffStartCurr,
|
||||
uint numParticles);
|
||||
void findOverlappingPairsCPU_D( uint index,
|
||||
float4* pAABB,
|
||||
uint2* pParticleHash,
|
||||
uint* pCellStart,
|
||||
uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr,
|
||||
uint numParticles);
|
||||
|
||||
void findPairsInCellCPU(int3 gridPos,
|
||||
uint index,
|
||||
uint2* pParticleHash,
|
||||
uint* pCellStart,
|
||||
float4* pAABB,
|
||||
uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr,
|
||||
uint numParticles);
|
||||
uint cudaTestAABBOverlapCPU(float4 min0, float4 max0, float4 min1, float4 max1);
|
||||
virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
|
||||
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
|
||||
|
||||
|
||||
protected:
|
||||
void _initialize();
|
||||
void _finalize();
|
||||
void scanOverlappingPairBuffCPU();
|
||||
|
||||
void squeezeOverlappingPairBuffCPU(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, uint numParticles);
|
||||
void squeezeOverlappingPairBuffCPU_D(uint index, uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut);
|
||||
|
||||
void addPairsToCacheCPU(btDispatcher* dispatcher);
|
||||
void resetOverlappingPairBuffCPU();
|
||||
|
||||
|
||||
void addLarge2LargePairsToCache(btDispatcher* dispatcher);
|
||||
};
|
||||
#endif //CUDA_BROADPHASE_H
|
||||
@@ -1,113 +0,0 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 9.00
|
||||
# Visual Studio 2005
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "btCudaBroadphase", "btCudaBroadphase.vcproj", "{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletmath", "..\..\msvc\8\libbulletmath.vcproj", "{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletdynamics", "..\..\msvc\8\libbulletdynamics.vcproj", "{61BD1097-CF2E-B296-DAA9-73A6FE135319}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbulletcollision", "..\..\msvc\8\libbulletcollision.vcproj", "{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Debug|x64 = Debug|x64
|
||||
DebugDoublePrecision|Win32 = DebugDoublePrecision|Win32
|
||||
DebugDoublePrecision|x64 = DebugDoublePrecision|x64
|
||||
EmuDebug|Win32 = EmuDebug|Win32
|
||||
EmuDebug|x64 = EmuDebug|x64
|
||||
EmuRelease|Win32 = EmuRelease|Win32
|
||||
EmuRelease|x64 = EmuRelease|x64
|
||||
Release|Win32 = Release|Win32
|
||||
Release|x64 = Release|x64
|
||||
ReleaseDoublePrecision|Win32 = ReleaseDoublePrecision|Win32
|
||||
ReleaseDoublePrecision|x64 = ReleaseDoublePrecision|x64
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.Debug|x64.Build.0 = Debug|x64
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.DebugDoublePrecision|Win32.ActiveCfg = Debug|x64
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.DebugDoublePrecision|x64.ActiveCfg = Debug|x64
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.DebugDoublePrecision|x64.Build.0 = Debug|x64
|
||||
{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}.EmuDebug|Win32.ActiveCfg = EmuDebug|Win32
|
||||
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EndGlobalSection
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|
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HideSolutionNode = FALSE
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EndGlobalSection
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EndGlobal
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84
Extras/CUDA/btCudaBroadphaseKernel.h
Normal file
84
Extras/CUDA/btCudaBroadphaseKernel.h
Normal file
@@ -0,0 +1,84 @@
|
||||
/*
|
||||
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);
|
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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);
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void btCuda_findOverlappingPairs( btCuda3F1U* pAABB, unsigned int* pHash,
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||||
unsigned int* pCellStart,
|
||||
unsigned int* pPairBuff,
|
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unsigned int* pPairBuffStartCurr,
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unsigned int numBodies);
|
||||
void btCuda_findPairsLarge( btCuda3F1U* pAABB, unsigned int* pHash,
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||||
unsigned int* pCellStart,
|
||||
unsigned int* pPairBuff,
|
||||
unsigned int* pPairBuffStartCurr,
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unsigned int numBodies,
|
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unsigned int numLarge);
|
||||
|
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void btCuda_computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr,
|
||||
unsigned int* pPairScan, btCuda3F1U* pAABB, unsigned int numBodies);
|
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void btCuda_squeezeOverlappingPairBuff( unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan,
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unsigned int* pPairOut, btCuda3F1U* pAABB, unsigned int numBodies);
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}
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#endif // CUDA_BROADPHASE_KERNEL_H
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593
Extras/CUDA/libbulletcuda.vcproj
Normal file
593
Extras/CUDA/libbulletcuda.vcproj
Normal file
@@ -0,0 +1,593 @@
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ProjectGUID="{F74E8E02-0B47-4816-BD0B-FAEAE3343165}"
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RootNamespace="libbulletcuda"
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>
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Name="Win32"
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Name="VCResourceCompilerTool"
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Culture="1033"
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AdditionalIncludeDirectories=".;..\..;..\..\src"
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/>
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<Tool
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<Tool
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Name="VCLibrarianTool"
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OutputFile="..\..\out\release8\libs\libbulletcuda.lib"
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SuppressStartupBanner="true"
|
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|
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<Tool
|
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Name="VCALinkTool"
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<Tool
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<Tool
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Name="VCBscMakeTool"
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<Tool
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Name="VCFxCopTool"
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<Tool
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Name="VCPostBuildEventTool"
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</Configuration>
|
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<Configuration
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Name="ReleaseDll|Win32"
|
||||
OutputDirectory="..\..\out\release_dll8\build\libbulletcuda\"
|
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IntermediateDirectory="..\..\out\release_dll8\build\libbulletcuda\"
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ConfigurationType="4"
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ATLMinimizesCRunTimeLibraryUsage="false"
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Name="VCMIDLTool"
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MkTypLibCompatible="true"
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SuppressStartupBanner="true"
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TargetEnvironment="1"
|
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TypeLibraryName="..\..\out\release_dll8\build\libbulletcuda\libbulletcuda.tlb"
|
||||
/>
|
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<Tool
|
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Name="VCCLCompilerTool"
|
||||
AdditionalOptions=" "
|
||||
Optimization="2"
|
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AdditionalIncludeDirectories=".;..\..;..\..\src"
|
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PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;WIN32"
|
||||
StringPooling="true"
|
||||
ExceptionHandling="0"
|
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RuntimeLibrary="2"
|
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BufferSecurityCheck="false"
|
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EnableFunctionLevelLinking="true"
|
||||
TreatWChar_tAsBuiltInType="false"
|
||||
PrecompiledHeaderFile="..\..\out\release_dll8\build\libbulletcuda\libbulletcuda.pch"
|
||||
AssemblerListingLocation="..\..\out\release_dll8\build\libbulletcuda\"
|
||||
ObjectFile="..\..\out\release_dll8\build\libbulletcuda\"
|
||||
ProgramDataBaseFileName="..\..\out\release_dll8\build\libbulletcuda\bulletcuda.pdb"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="true"
|
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Detect64BitPortabilityProblems="true"
|
||||
DebugInformationFormat="3"
|
||||
CompileAs="0"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
|
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Culture="1033"
|
||||
AdditionalIncludeDirectories=".;..\..;..\..\src"
|
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/>
|
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<Tool
|
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Name="VCPreLinkEventTool"
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/>
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<Tool
|
||||
Name="VCLibrarianTool"
|
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SuppressStartupBanner="true"
|
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/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
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|
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|
||||
AdditionalDependencies="radixsort.cuh; radixsort_kernel.cu"
|
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Outputs="$(ConfigurationName)\radixsort_cu.obj"
|
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</FileConfiguration>
|
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</File>
|
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<File
|
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>
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|
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|
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|
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>
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<Filter
|
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<Globals>
|
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</Globals>
|
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</VisualStudioProject>
|
||||
@@ -32,6 +32,7 @@
|
||||
#include "radixsort.cuh"
|
||||
#include "particles_kernel.cuh"
|
||||
|
||||
//#include <cutil.h>
|
||||
|
||||
#include <assert.h>
|
||||
#include <math.h>
|
||||
@@ -42,6 +43,7 @@
|
||||
#include <GL/glew.h>
|
||||
|
||||
#include <btBulletDynamicsCommon.h>
|
||||
#include "../../Demos/OpenGL/GLDebugDrawer.h"
|
||||
|
||||
#include "btCudaBroadphase.h"
|
||||
|
||||
@@ -50,22 +52,609 @@
|
||||
#define CUDART_PI_F 3.141592654f
|
||||
#endif
|
||||
|
||||
#define USE_BULLET 1
|
||||
|
||||
#define VEL_DIR_FACT (30.0F)
|
||||
#define ACC_DIR_FACT (VEL_DIR_FACT*VEL_DIR_FACT)
|
||||
#define VEL_INV_FACT (1.0F/VEL_DIR_FACT)
|
||||
#define ACC_INV_FACT (1.0F/ACC_DIR_FACT)
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
ParticleSystem::ParticleSystem(uint numParticles, uint3 gridSize) :
|
||||
m_simulationMode(SIMULATION_BULLET_CPU)//SIMULATION_CUDA)
|
||||
m_bInitialized(false),
|
||||
m_numParticles(numParticles),
|
||||
m_hPos(0),
|
||||
m_hVel(0),
|
||||
m_currentPosRead(0),
|
||||
m_currentVelRead(0),
|
||||
m_currentPosWrite(1),
|
||||
m_currentVelWrite(1),
|
||||
m_gridSize(gridSize),
|
||||
m_maxParticlesPerCell(4),
|
||||
m_timer(0),
|
||||
m_solverIterations(1),
|
||||
// m_simulationMode(SIMULATION_CUDA)
|
||||
m_simulationMode(SIMULATION_BULLET_CPU)
|
||||
{
|
||||
this->m_params.numBodies = numParticles;
|
||||
this->m_params.m_gridSize = gridSize;
|
||||
m_dPos[0] = m_dPos[1] = 0;
|
||||
m_dVel[0] = m_dVel[1] = 0;
|
||||
|
||||
m_numGridCells = m_gridSize.x*m_gridSize.y*m_gridSize.z;
|
||||
float3 worldSize = make_float3(2.0f, 2.0f, 2.0f);
|
||||
|
||||
// set simulation parameters
|
||||
m_params.gridSize = m_gridSize;
|
||||
m_params.numCells = m_numGridCells;
|
||||
m_params.numBodies = m_numParticles;
|
||||
m_params.maxParticlesPerCell = m_maxParticlesPerCell;
|
||||
|
||||
m_params.worldOrigin = make_float3(-1.0f, -1.0f, -1.0f);
|
||||
m_params.cellSize = make_float3(worldSize.x / m_gridSize.x, worldSize.y / m_gridSize.y, worldSize.z / m_gridSize.z);
|
||||
|
||||
m_params.particleRadius = m_params.cellSize.x * 0.5f;
|
||||
m_params.colliderPos = make_float4(0.0f, -0.7f, 0.0f, 1.0f);
|
||||
m_params.colliderRadius = 0.2f;
|
||||
|
||||
m_params.spring = 0.5f;
|
||||
m_params.damping = 0.02f;
|
||||
m_params.shear = 0.1f;
|
||||
m_params.attraction = 0.0f;
|
||||
m_params.boundaryDamping = -0.5f;
|
||||
|
||||
m_params.gravity = make_float3(0.0f, -0.0003f, 0.0f);
|
||||
m_params.globalDamping = 1.0f;
|
||||
|
||||
_initialize(numParticles);
|
||||
|
||||
#if USE_BULLET
|
||||
initializeBullet();
|
||||
#endif
|
||||
}
|
||||
|
||||
ParticleSystem::~ParticleSystem()
|
||||
{
|
||||
#if USE_BULLET
|
||||
finalizeBullet();
|
||||
#endif
|
||||
_finalize();
|
||||
m_numParticles = 0;
|
||||
}
|
||||
|
||||
uint
|
||||
ParticleSystem::createVBO(uint size)
|
||||
{
|
||||
GLuint vbo;
|
||||
glGenBuffers(1, &vbo);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, vbo);
|
||||
glBufferData(GL_ARRAY_BUFFER, size, 0, GL_DYNAMIC_DRAW);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, 0);
|
||||
registerGLBufferObject(vbo);
|
||||
return vbo;
|
||||
}
|
||||
|
||||
inline float lerp(float a, float b, float t)
|
||||
{
|
||||
return a + t*(b-a);
|
||||
}
|
||||
|
||||
void colorRamp(float t, float *r)
|
||||
{
|
||||
const int ncolors = 7;
|
||||
float c[ncolors][3] = {
|
||||
{ 1.0, 0.0, 0.0, },
|
||||
{ 1.0, 0.5, 0.0, },
|
||||
{ 1.0, 1.0, 0.0, },
|
||||
{ 0.0, 1.0, 0.0, },
|
||||
{ 0.0, 1.0, 1.0, },
|
||||
{ 0.0, 0.0, 1.0, },
|
||||
{ 1.0, 0.0, 1.0, },
|
||||
};
|
||||
t = t * (ncolors-1);
|
||||
int i = (int) t;
|
||||
float u = t - floor(t);
|
||||
r[0] = lerp(c[i][0], c[i+1][0], u);
|
||||
r[1] = lerp(c[i][1], c[i+1][1], u);
|
||||
r[2] = lerp(c[i][2], c[i+1][2], u);
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::_initialize(int numParticles)
|
||||
{
|
||||
assert(!m_bInitialized);
|
||||
|
||||
m_numParticles = numParticles;
|
||||
|
||||
// allocate host storage
|
||||
m_hPos = new float[m_numParticles*4];
|
||||
m_hVel = new float[m_numParticles*4];
|
||||
memset(m_hPos, 0, m_numParticles*4*sizeof(float));
|
||||
memset(m_hVel, 0, m_numParticles*4*sizeof(float));
|
||||
|
||||
m_hGridCounters = new uint[m_numGridCells];
|
||||
m_hGridCells = new uint[m_numGridCells*m_maxParticlesPerCell];
|
||||
memset(m_hGridCounters, 0, m_numGridCells*sizeof(uint));
|
||||
memset(m_hGridCells, 0, m_numGridCells*m_maxParticlesPerCell*sizeof(uint));
|
||||
|
||||
m_hParticleHash = new uint[m_numParticles*2];
|
||||
memset(m_hParticleHash, 0, m_numParticles*2*sizeof(uint));
|
||||
|
||||
m_hCellStart = new uint[m_numGridCells];
|
||||
memset(m_hCellStart, 0, m_numGridCells*sizeof(uint));
|
||||
|
||||
// allocate GPU data
|
||||
unsigned int memSize = sizeof(float) * 4 * m_numParticles;
|
||||
|
||||
m_posVbo[0] = createVBO(memSize);
|
||||
m_posVbo[1] = createVBO(memSize);
|
||||
|
||||
allocateArray((void**)&m_dVel[0], memSize);
|
||||
allocateArray((void**)&m_dVel[1], memSize);
|
||||
|
||||
allocateArray((void**)&m_dSortedPos, memSize);
|
||||
allocateArray((void**)&m_dSortedVel, memSize);
|
||||
|
||||
#if USE_SORT
|
||||
allocateArray((void**)&m_dParticleHash[0], m_numParticles*2*sizeof(uint));
|
||||
allocateArray((void**)&m_dParticleHash[1], m_numParticles*2*sizeof(uint));
|
||||
allocateArray((void**)&m_dCellStart, m_numGridCells*sizeof(uint));
|
||||
#else
|
||||
allocateArray((void**)&m_dGridCounters, m_numGridCells*sizeof(uint));
|
||||
allocateArray((void**)&m_dGridCells, m_numGridCells*m_maxParticlesPerCell*sizeof(uint));
|
||||
#endif
|
||||
|
||||
m_colorVBO = createVBO(m_numParticles*4*sizeof(float));
|
||||
|
||||
#if 1
|
||||
// fill color buffer
|
||||
glBindBufferARB(GL_ARRAY_BUFFER, m_colorVBO);
|
||||
float *data = (float *) glMapBufferARB(GL_ARRAY_BUFFER, GL_WRITE_ONLY);
|
||||
float *ptr = data;
|
||||
for(uint i=0; i<m_numParticles; i++) {
|
||||
float t = i / (float) m_numParticles;
|
||||
#if 0
|
||||
*ptr++ = rand() / (float) RAND_MAX;
|
||||
*ptr++ = rand() / (float) RAND_MAX;
|
||||
*ptr++ = rand() / (float) RAND_MAX;
|
||||
#else
|
||||
colorRamp(t, ptr);
|
||||
ptr+=3;
|
||||
#endif
|
||||
*ptr++ = 1.0f;
|
||||
}
|
||||
glUnmapBufferARB(GL_ARRAY_BUFFER);
|
||||
#endif
|
||||
|
||||
// CUT_SAFE_CALL(cutCreateTimer(&m_timer));
|
||||
|
||||
setParameters(&m_params);
|
||||
|
||||
m_bInitialized = true;
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::_finalize()
|
||||
{
|
||||
assert(m_bInitialized);
|
||||
|
||||
delete [] m_hPos;
|
||||
delete [] m_hVel;
|
||||
|
||||
delete [] m_hGridCounters;
|
||||
delete [] m_hGridCells;
|
||||
|
||||
freeArray(m_dVel[0]);
|
||||
freeArray(m_dVel[1]);
|
||||
|
||||
freeArray(m_dSortedPos);
|
||||
freeArray(m_dSortedVel);
|
||||
|
||||
#if USE_SORT
|
||||
freeArray(m_dParticleHash[0]);
|
||||
freeArray(m_dParticleHash[1]);
|
||||
freeArray(m_dCellStart);
|
||||
#else
|
||||
freeArray(m_dGridCounters);
|
||||
freeArray(m_dGridCells);
|
||||
#endif
|
||||
|
||||
unregisterGLBufferObject(m_posVbo[0]);
|
||||
unregisterGLBufferObject(m_posVbo[1]);
|
||||
glDeleteBuffers(2, (const GLuint*)m_posVbo);
|
||||
|
||||
glDeleteBuffers(1, (const GLuint*)&m_colorVBO);
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::update(float deltaTime)
|
||||
{
|
||||
assert(m_bInitialized);
|
||||
#if USE_BULLET
|
||||
switch (m_simulationMode)
|
||||
{
|
||||
case SIMULATION_CUDA:
|
||||
{
|
||||
updateCuda(deltaTime);
|
||||
break;
|
||||
}
|
||||
case SIMULATION_BULLET_CPU:
|
||||
{
|
||||
updateBullet(deltaTime);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
printf("unknown simulation method\n");
|
||||
}
|
||||
}
|
||||
#else
|
||||
updateCuda(deltaTime);
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::updateBullet(float deltaTime)
|
||||
{
|
||||
float* hPos = copyBuffersFromDeviceToHost();
|
||||
float* hVel = m_hVel;
|
||||
|
||||
for (uint i=0;i<m_params.numBodies;i++)
|
||||
{
|
||||
float3 pos;
|
||||
pos.x = hPos[i*4];
|
||||
pos.y = hPos[i*4+1];
|
||||
pos.z = hPos[i*4+2];
|
||||
float3 vel;
|
||||
vel.x = hVel[i*4];
|
||||
vel.y = hVel[i*4+1];
|
||||
vel.z = hVel[i*4+2];
|
||||
// if (pos.x > 1.0f - m_params.particleRadius) { pos.x = 1.0f - m_params.particleRadius; vel.x *= m_params.boundaryDamping; }
|
||||
// if (pos.x < -1.0f + m_params.particleRadius) { pos.x = -1.0f + m_params.particleRadius; vel.x *= m_params.boundaryDamping;}
|
||||
// if (pos.y > 1.0f - m_params.particleRadius) { pos.y = 1.0f - m_params.particleRadius; vel.y *= m_params.boundaryDamping; }
|
||||
// if (pos.y < -1.0f + m_params.particleRadius) { pos.y = -1.0f + m_params.particleRadius; vel.y *= m_params.boundaryDamping;}
|
||||
// if (pos.z > 1.0f - m_params.particleRadius) { pos.z = 1.0f - m_params.particleRadius; vel.z *= m_params.boundaryDamping; }
|
||||
// if (pos.z < -1.0f + m_params.particleRadius) { pos.z = -1.0f + m_params.particleRadius; vel.z *= m_params.boundaryDamping;}
|
||||
btTransform& trans = m_bulletParticles[i]->getWorldTransform();
|
||||
trans.setOrigin(btVector3(pos.x, pos.y, pos.z));
|
||||
m_bulletParticles[i]->setLinearVelocity(btVector3(vel.x, vel.y, vel.z)*btScalar(VEL_DIR_FACT));
|
||||
m_bulletParticles[i]->setAngularVelocity(btVector3(0,0,0));
|
||||
}
|
||||
|
||||
glUnmapBufferARB(GL_ARRAY_BUFFER);
|
||||
|
||||
std::swap(m_currentPosRead, m_currentPosWrite);
|
||||
std::swap(m_currentVelRead, m_currentVelWrite);
|
||||
|
||||
btTransform& collTrans = m_bulletCollider->getWorldTransform();
|
||||
collTrans.setOrigin(btVector3(m_params.colliderPos.x, m_params.colliderPos.y, m_params.colliderPos.z));
|
||||
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
|
||||
glBindBufferARB(GL_ARRAY_BUFFER, m_posVbo[m_currentPosRead]);
|
||||
hPos = (float *) glMapBufferARB(GL_ARRAY_BUFFER, GL_READ_WRITE);//GL_WRITE_ONLY);
|
||||
|
||||
//sync transform and velocity from Bullet to particle system
|
||||
for (uint i=0;i<m_params.numBodies;i++)
|
||||
{
|
||||
btTransform& trans = m_bulletParticles[i]->getWorldTransform();
|
||||
hPos[i*4] = trans.getOrigin().getX();
|
||||
hPos[i*4+1] = trans.getOrigin().getY();
|
||||
hPos[i*4+2] = trans.getOrigin().getZ();
|
||||
hVel[i*4] = m_bulletParticles[i]->getLinearVelocity().getX() * VEL_INV_FACT;
|
||||
hVel[i*4+1] = m_bulletParticles[i]->getLinearVelocity().getY() * VEL_INV_FACT;
|
||||
hVel[i*4+2] = m_bulletParticles[i]->getLinearVelocity().getZ() * VEL_INV_FACT;
|
||||
}
|
||||
copyBuffersFromHostToDevice();
|
||||
|
||||
collTrans = m_bulletCollider->getWorldTransform();
|
||||
m_params.colliderPos.x = collTrans.getOrigin().getX();
|
||||
m_params.colliderPos.y = collTrans.getOrigin().getY();
|
||||
m_params.colliderPos.z = collTrans.getOrigin().getZ();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
ParticleSystem::updateCuda(float deltaTime)
|
||||
{
|
||||
#ifndef BT_NO_PROFILE
|
||||
CProfileManager::Reset();
|
||||
#endif //BT_NO_PROFILE
|
||||
BT_PROFILE("update CUDA");
|
||||
// update constants
|
||||
setParameters(&m_params);
|
||||
|
||||
// integrate
|
||||
{
|
||||
BT_PROFILE("integrate");
|
||||
integrateSystem(m_posVbo[m_currentPosRead], m_posVbo[m_currentPosWrite],
|
||||
m_dVel[m_currentVelRead], m_dVel[m_currentVelWrite],
|
||||
deltaTime,
|
||||
m_numParticles);
|
||||
}
|
||||
std::swap(m_currentPosRead, m_currentPosWrite);
|
||||
std::swap(m_currentVelRead, m_currentVelWrite);
|
||||
|
||||
#if USE_SORT
|
||||
// sort and search method
|
||||
|
||||
// calculate hash
|
||||
{
|
||||
BT_PROFILE("calcHash");
|
||||
calcHash(m_posVbo[m_currentPosRead],
|
||||
m_dParticleHash[0],
|
||||
m_numParticles);
|
||||
}
|
||||
|
||||
#if DEBUG_GRID
|
||||
copyArrayFromDevice((void *) m_hParticleHash, (void *) m_dParticleHash[0], 0, sizeof(uint)*2*m_numParticles);
|
||||
printf("particle hash:\n");
|
||||
for(uint i=0; i<m_numParticles; i++) {
|
||||
printf("%d: %d, %d\n", i, m_hParticleHash[i*2], m_hParticleHash[i*2+1]);
|
||||
}
|
||||
#endif
|
||||
|
||||
// sort particles based on hash
|
||||
{
|
||||
BT_PROFILE("RadixSort");
|
||||
RadixSort((KeyValuePair *) m_dParticleHash[0], (KeyValuePair *) m_dParticleHash[1], m_numParticles, 32);
|
||||
}
|
||||
|
||||
#if DEBUG_GRID
|
||||
copyArrayFromDevice((void *) m_hParticleHash, (void *) m_dParticleHash[0], 0, sizeof(uint)*2*m_numParticles);
|
||||
printf("particle hash sorted:\n");
|
||||
for(uint i=0; i<m_numParticles; i++) {
|
||||
printf("%d: %d, %d\n", i, m_hParticleHash[i*2], m_hParticleHash[i*2+1]);
|
||||
}
|
||||
#endif
|
||||
|
||||
// reorder particle arrays into sorted order and
|
||||
// find start of each cell
|
||||
{
|
||||
BT_PROFILE("reorder");
|
||||
reorderDataAndFindCellStart(m_dParticleHash[0],
|
||||
m_posVbo[m_currentPosRead],
|
||||
m_dVel[m_currentVelRead],
|
||||
m_dSortedPos,
|
||||
m_dSortedVel,
|
||||
m_dCellStart,
|
||||
m_numParticles,
|
||||
m_numGridCells);
|
||||
}
|
||||
#if DEBUG_GRID
|
||||
copyArrayFromDevice((void *) m_hCellStart, (void *) m_dCellStart, 0, sizeof(uint)*m_numGridCells);
|
||||
printf("cell start:\n");
|
||||
for(uint i=0; i<m_numGridCells; i++) {
|
||||
printf("%d: %d\n", i, m_hCellStart[i]);
|
||||
}
|
||||
#endif
|
||||
|
||||
#else
|
||||
// update grid using atomics
|
||||
updateGrid(m_posVbo[m_currentPosRead],
|
||||
m_dGridCounters,
|
||||
m_dGridCells,
|
||||
m_numParticles,
|
||||
m_numGridCells);
|
||||
#endif
|
||||
|
||||
// process collisions
|
||||
{
|
||||
BT_PROFILE("collide");
|
||||
for(uint i=0; i<m_solverIterations; i++) {
|
||||
collide(m_posVbo[m_currentPosRead], m_posVbo[m_currentPosWrite],
|
||||
m_dSortedPos, m_dSortedVel,
|
||||
m_dVel[m_currentVelRead], m_dVel[m_currentVelWrite],
|
||||
m_dGridCounters,
|
||||
m_dGridCells,
|
||||
m_dParticleHash[0],
|
||||
m_dCellStart,
|
||||
m_numParticles,
|
||||
m_numGridCells,
|
||||
m_maxParticlesPerCell
|
||||
);
|
||||
std::swap(m_currentVelRead, m_currentVelWrite);
|
||||
}
|
||||
}
|
||||
#ifndef BT_NO_PROFILE
|
||||
CProfileManager::Increment_Frame_Counter();
|
||||
#endif //BT_NO_PROFILE
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::dumpGrid()
|
||||
{
|
||||
// debug
|
||||
copyArrayFromDevice(m_hGridCounters, m_dGridCounters, 0, sizeof(uint)*m_numGridCells);
|
||||
copyArrayFromDevice(m_hGridCells, m_dGridCells, 0, sizeof(uint)*m_numGridCells*m_maxParticlesPerCell);
|
||||
uint total = 0;
|
||||
uint maxPerCell = 0;
|
||||
for(uint i=0; i<m_numGridCells; i++) {
|
||||
if (m_hGridCounters[i] > maxPerCell)
|
||||
maxPerCell = m_hGridCounters[i];
|
||||
if (m_hGridCounters[i] > 0) {
|
||||
printf("%d (%d): ", i, m_hGridCounters[i]);
|
||||
for(uint j=0; j<m_hGridCounters[i]; j++) {
|
||||
printf("%d ", m_hGridCells[i*m_maxParticlesPerCell + j]);
|
||||
}
|
||||
total += m_hGridCounters[i];
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
printf("max per cell = %d\n", maxPerCell);
|
||||
printf("total = %d\n", total);
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::dumpParticles(uint start, uint count)
|
||||
{
|
||||
// debug
|
||||
copyArrayFromDevice(m_hPos, 0, m_posVbo[m_currentPosRead], sizeof(float)*4*count);
|
||||
copyArrayFromDevice(m_hVel, m_dVel[m_currentVelRead], 0, sizeof(float)*4*count);
|
||||
|
||||
for(uint i=start; i<start+count; i++) {
|
||||
// printf("%d: ", i);
|
||||
printf("pos: (%.4f, %.4f, %.4f, %.4f)\n", m_hPos[i*4+0], m_hPos[i*4+1], m_hPos[i*4+2], m_hPos[i*4+3]);
|
||||
printf("vel: (%.4f, %.4f, %.4f, %.4f)\n", m_hVel[i*4+0], m_hVel[i*4+1], m_hVel[i*4+2], m_hVel[i*4+3]);
|
||||
}
|
||||
}
|
||||
|
||||
float*
|
||||
ParticleSystem::getArray(ParticleArray array)
|
||||
{
|
||||
assert(m_bInitialized);
|
||||
|
||||
float* hdata = 0;
|
||||
float* ddata = 0;
|
||||
|
||||
unsigned int vbo = 0;
|
||||
|
||||
switch (array)
|
||||
{
|
||||
default:
|
||||
case POSITION:
|
||||
hdata = m_hPos;
|
||||
ddata = m_dPos[m_currentPosRead];
|
||||
vbo = m_posVbo[m_currentPosRead];
|
||||
break;
|
||||
case VELOCITY:
|
||||
hdata = m_hVel;
|
||||
ddata = m_dVel[m_currentVelRead];
|
||||
break;
|
||||
}
|
||||
|
||||
copyArrayFromDevice(hdata, ddata, vbo, m_numParticles*4*sizeof(float));
|
||||
return hdata;
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::setArray(ParticleArray array, const float* data, int start, int count)
|
||||
{
|
||||
assert(m_bInitialized);
|
||||
|
||||
switch (array)
|
||||
{
|
||||
default:
|
||||
case POSITION:
|
||||
{
|
||||
unregisterGLBufferObject(m_posVbo[m_currentPosRead]);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, m_posVbo[m_currentPosRead]);
|
||||
glBufferSubData(GL_ARRAY_BUFFER, start*4*sizeof(float), count*4*sizeof(float), data);
|
||||
glBindBuffer(GL_ARRAY_BUFFER, 0);
|
||||
registerGLBufferObject(m_posVbo[m_currentPosRead]);
|
||||
}
|
||||
break;
|
||||
case VELOCITY:
|
||||
copyArrayToDevice(m_dVel[m_currentVelRead], data, start*4*sizeof(float), count*4*sizeof(float));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
inline float frand()
|
||||
{
|
||||
return rand() / (float) RAND_MAX;
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::initGrid(uint *size, float spacing, float jitter, uint numParticles)
|
||||
{
|
||||
srand(1973);
|
||||
for(uint z=0; z<size[2]; z++) {
|
||||
for(uint y=0; y<size[1]; y++) {
|
||||
for(uint x=0; x<size[0]; x++) {
|
||||
uint i = (z*size[1]*size[0]) + (y*size[0]) + x;
|
||||
if (i < numParticles) {
|
||||
m_hPos[i*4] = (spacing * x) + m_params.particleRadius - 1.0f + (frand()*2.0f-1.0f)*jitter;
|
||||
m_hPos[i*4+1] = (spacing * y) + m_params.particleRadius - 1.0f + (frand()*2.0f-1.0f)*jitter;
|
||||
m_hPos[i*4+2] = (spacing * z) + m_params.particleRadius - 1.0f + (frand()*2.0f-1.0f)*jitter;
|
||||
m_hPos[i*4+3] = 1.0f;
|
||||
|
||||
m_hVel[i*4] = 0.0f;
|
||||
m_hVel[i*4+1] = 0.0f;
|
||||
m_hVel[i*4+2] = 0.0f;
|
||||
m_hVel[i*4+3] = 0.0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::reset(ParticleConfig config)
|
||||
{
|
||||
switch(config)
|
||||
{
|
||||
default:
|
||||
case CONFIG_RANDOM:
|
||||
{
|
||||
int p = 0, v = 0;
|
||||
for(uint i=0; i < m_numParticles; i++)
|
||||
{
|
||||
float point[3];
|
||||
point[0] = frand();
|
||||
point[1] = frand();
|
||||
point[2] = frand();
|
||||
m_hPos[p++] = 2 * (point[0] - 0.5f);
|
||||
m_hPos[p++] = 2 * (point[1] - 0.5f);
|
||||
m_hPos[p++] = 2 * (point[2] - 0.5f);
|
||||
m_hPos[p++] = 1.0f; // radius
|
||||
m_hVel[v++] = 0.0f;
|
||||
m_hVel[v++] = 0.0f;
|
||||
m_hVel[v++] = 0.0f;
|
||||
m_hVel[v++] = 0.0f;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case CONFIG_GRID:
|
||||
{
|
||||
float jitter = m_params.particleRadius*0.01f;
|
||||
uint s = (int) ceilf(powf((float) m_numParticles, 1.0f / 3.0f));
|
||||
uint gridSize[3];
|
||||
gridSize[0] = gridSize[1] = gridSize[2] = s;
|
||||
initGrid(gridSize, m_params.particleRadius*2.0f, jitter, m_numParticles);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
setArray(POSITION, m_hPos, 0, m_numParticles);
|
||||
setArray(VELOCITY, m_hVel, 0, m_numParticles);
|
||||
}
|
||||
|
||||
void
|
||||
ParticleSystem::addSphere(int start, float *pos, float *vel, int r, float spacing)
|
||||
{
|
||||
uint index = start;
|
||||
for(int z=-r; z<=r; z++) {
|
||||
for(int y=-r; y<=r; y++) {
|
||||
for(int x=-r; x<=r; x++) {
|
||||
float dx = x*spacing;
|
||||
float dy = y*spacing;
|
||||
float dz = z*spacing;
|
||||
float l = sqrtf(dx*dx + dy*dy + dz*dz);
|
||||
if ((l <= m_params.particleRadius*2.0f*r) && (index < m_numParticles)) {
|
||||
m_hPos[index*4] = pos[0] + dx;
|
||||
m_hPos[index*4+1] = pos[1] + dy;
|
||||
m_hPos[index*4+2] = pos[2] + dz;
|
||||
m_hPos[index*4+3] = pos[3];
|
||||
|
||||
m_hVel[index*4] = vel[0];
|
||||
m_hVel[index*4+1] = vel[1];
|
||||
m_hVel[index*4+2] = vel[2];
|
||||
m_hVel[index*4+3] = vel[3];
|
||||
index++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
setArray(POSITION, m_hPos, start, index);
|
||||
setArray(VELOCITY, m_hVel, start, index);
|
||||
|
||||
}
|
||||
#include "../../Demos/OpenGL/GLDebugDrawer.h"
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
void ParticleSystem::initializeBullet()
|
||||
{
|
||||
@@ -73,9 +662,8 @@ void ParticleSystem::initializeBullet()
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
// m_broadphase = new btDbvtBroadphase();
|
||||
//m_broadphase = new btAxisSweep3(btVector3(-3,-3,-3),btVector3(3,3,3));
|
||||
m_broadphase = new btCudaBroadphase(m_params,m_params.numBodies+6);
|
||||
|
||||
// m_broadphase = new btAxisSweep3(btVector3(-3,-3,-3),btVector3(3,3,3));
|
||||
m_broadphase = new btCudaBroadphase(btVector3(-1, -1, -1), btVector3(1, 1, 1), 64, 64, 64, m_params.numBodies, 16, 64, 8, btScalar(1.0f/1.733f));
|
||||
|
||||
|
||||
m_constraintSolver=new btSequentialImpulseConstraintSolver();
|
||||
@@ -84,27 +672,67 @@ void ParticleSystem::initializeBullet()
|
||||
//debugDrawer.setDebugMode(btIDebugDraw::DBG_DrawPairs);
|
||||
|
||||
|
||||
m_dynamicsWorld->setGravity(100*btVector3(m_params.gravity.x,m_params.gravity.y,m_params.gravity.z));
|
||||
// m_dynamicsWorld->setGravity(100*btVector3(m_params.gravity.x,m_params.gravity.y,m_params.gravity.z));
|
||||
m_dynamicsWorld->setGravity(btScalar(ACC_DIR_FACT) * btVector3(m_params.gravity.x,m_params.gravity.y,m_params.gravity.z));
|
||||
m_dynamicsWorld->getSolverInfo().m_numIterations=1;
|
||||
|
||||
btBoxShape* worldBox = new btBoxShape(btVector3(m_params.worldSize.x/2,m_params.worldSize.y/2,m_params.worldSize.z/2));
|
||||
worldBox->setMargin(0.f);
|
||||
|
||||
//create 6 static planes for the world cube
|
||||
btStaticPlaneShape* planeShape;
|
||||
btRigidBody* body;
|
||||
btVector3 worldSize();
|
||||
|
||||
int i;
|
||||
btCollisionShape* boxShape = new btBoxShape(btVector3(btScalar(1.2),btScalar(0.05),btScalar(1.2)));
|
||||
// boxShape->setMargin(0.03f);
|
||||
|
||||
btScalar mass(0.);
|
||||
btVector3 localInertia(0,0,0);
|
||||
btRigidBody::btRigidBodyConstructionInfo boxRbcInfo(mass, 0, boxShape, localInertia);
|
||||
boxRbcInfo.m_startWorldTransform.setIdentity();
|
||||
boxRbcInfo.m_startWorldTransform.setOrigin(btVector3(0, -1.05f,0));
|
||||
boxRbcInfo.m_friction = 0.0f;
|
||||
body = new btRigidBody(boxRbcInfo);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
boxRbcInfo.m_startWorldTransform.setIdentity();
|
||||
boxRbcInfo.m_startWorldTransform.setOrigin(btVector3(0, 1.05f,0));
|
||||
boxRbcInfo.m_friction = 0.0f;
|
||||
body = new btRigidBody(boxRbcInfo);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
boxRbcInfo.m_startWorldTransform.setIdentity();
|
||||
boxRbcInfo.m_startWorldTransform.getBasis().setEulerZYX(0, 0, SIMD_HALF_PI);
|
||||
boxRbcInfo.m_startWorldTransform.setOrigin(btVector3(-1.05f, 0, 0));
|
||||
boxRbcInfo.m_friction = 0.0f;
|
||||
body = new btRigidBody(boxRbcInfo);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
boxRbcInfo.m_startWorldTransform.setIdentity();
|
||||
boxRbcInfo.m_startWorldTransform.getBasis().setEulerZYX(0, 0, SIMD_HALF_PI);
|
||||
boxRbcInfo.m_startWorldTransform.setOrigin(btVector3(1.05f, 0, 0));
|
||||
boxRbcInfo.m_friction = 0.0f;
|
||||
body = new btRigidBody(boxRbcInfo);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
boxRbcInfo.m_startWorldTransform.setIdentity();
|
||||
boxRbcInfo.m_startWorldTransform.getBasis().setEulerZYX(SIMD_HALF_PI, 0, 0);
|
||||
boxRbcInfo.m_startWorldTransform.setOrigin(btVector3(0, 0, -1.05f));
|
||||
boxRbcInfo.m_friction = 0.0f;
|
||||
body = new btRigidBody(boxRbcInfo);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
boxRbcInfo.m_startWorldTransform.setIdentity();
|
||||
boxRbcInfo.m_startWorldTransform.getBasis().setEulerZYX(SIMD_HALF_PI, 0, 0);
|
||||
boxRbcInfo.m_startWorldTransform.setOrigin(btVector3(0, 0, 1.05f));
|
||||
boxRbcInfo.m_friction = 0.0f;
|
||||
body = new btRigidBody(boxRbcInfo);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
|
||||
|
||||
unsigned int i;
|
||||
|
||||
btSphereShape* particleSphere = new btSphereShape(m_params.particleRadius);
|
||||
particleSphere->setMargin(0.0);
|
||||
btVector3 localInertia;
|
||||
particleSphere->calculateLocalInertia(1,localInertia);
|
||||
|
||||
float* m_hPos = m_broadphase->getHposPtr();
|
||||
reset(CONFIG_GRID);
|
||||
|
||||
for (i=0;i<m_params.numBodies;i++)
|
||||
{
|
||||
@@ -116,7 +744,15 @@ void ParticleSystem::initializeBullet()
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
reset(CONFIG_GRID);
|
||||
btSphereShape* colliderSphere = new btSphereShape(m_params.colliderRadius);
|
||||
colliderSphere->setMargin(0.0);
|
||||
colliderSphere->calculateLocalInertia(10., localInertia);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbci(5., 0, colliderSphere,localInertia);
|
||||
rbci.m_startWorldTransform.setOrigin(btVector3(m_params.colliderPos.x, m_params.colliderPos.y, m_params.colliderPos.z));
|
||||
body = new btRigidBody(rbci);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_bulletCollider = body;
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
/* for (i=0;i<6;i++)
|
||||
{
|
||||
@@ -130,7 +766,6 @@ void ParticleSystem::initializeBullet()
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
void ParticleSystem::finalizeBullet()
|
||||
@@ -142,139 +777,29 @@ void ParticleSystem::finalizeBullet()
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
ParticleSystem::update(float deltaTime)
|
||||
float* ParticleSystem::copyBuffersFromDeviceToHost()
|
||||
{
|
||||
assert(m_bInitialized);
|
||||
|
||||
switch (m_simulationMode)
|
||||
{
|
||||
case SIMULATION_CUDA:
|
||||
{
|
||||
m_broadphase->quickHack(deltaTime);
|
||||
//todo
|
||||
break;
|
||||
}
|
||||
case SIMULATION_BULLET_CPU:
|
||||
{
|
||||
m_broadphase->integrate();
|
||||
|
||||
|
||||
///copy particles from device to main memory
|
||||
{
|
||||
float* hPosData = m_broadphase->copyBuffersFromDeviceToHost();
|
||||
float* m_hVel = m_broadphase->getHvelPtr();
|
||||
m_broadphase->copyBuffersFromHostToDevice();
|
||||
|
||||
|
||||
//sync transform and velocity from particle system to Bullet
|
||||
|
||||
for (int i=0;i<m_params.numBodies;i++)
|
||||
{
|
||||
btTransform& trans = m_bulletParticles[i]->getWorldTransform();
|
||||
trans.setOrigin(btVector3(hPosData[i*4],hPosData[i*4+1],hPosData[i*4+2]));
|
||||
m_bulletParticles[i]->setLinearVelocity(btVector3(m_hVel[i*4],m_hVel[i*4+1],m_hVel[i*4+2])*10.);
|
||||
}
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
|
||||
/* for (int i=0;i<m_numParticles;i++)
|
||||
{
|
||||
data[i*4+1] -= 0.001f;
|
||||
m_hVel[i*4]=0;
|
||||
m_hVel[i*4+1]=0;
|
||||
m_hVel[i*4+2]=0;
|
||||
}
|
||||
*/
|
||||
|
||||
{
|
||||
float* hPosData = m_broadphase->copyBuffersFromDeviceToHost();
|
||||
float* m_hVel = m_broadphase->getHvelPtr();
|
||||
|
||||
//sync transform and velocity from Bullet to particle system
|
||||
for (int i=0;i<m_params.numBodies;i++)
|
||||
{
|
||||
btTransform& trans = m_bulletParticles[i]->getWorldTransform();
|
||||
hPosData[i*4] = trans.getOrigin().getX();
|
||||
hPosData[i*4+1] = trans.getOrigin().getY();
|
||||
hPosData[i*4+2] = trans.getOrigin().getZ();
|
||||
|
||||
m_hVel[i*4] = m_bulletParticles[i]->getLinearVelocity().getX()/10.f;
|
||||
m_hVel[i*4+1] = m_bulletParticles[i]->getLinearVelocity().getY()/10.f;
|
||||
m_hVel[i*4+2] = m_bulletParticles[i]->getLinearVelocity().getZ()/10.f;
|
||||
}
|
||||
|
||||
m_broadphase->copyBuffersFromHostToDevice();
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
default:
|
||||
{
|
||||
printf("unknown simulation method\n");
|
||||
}
|
||||
};
|
||||
copyArrayFromDevice(m_hVel, m_dVel[m_currentVelRead], 0, sizeof(float)*4*m_numParticles);
|
||||
// fill color buffer
|
||||
glBindBufferARB(GL_ARRAY_BUFFER, m_posVbo[m_currentPosRead]);
|
||||
float* hPosData = (float *) glMapBufferARB(GL_ARRAY_BUFFER, GL_READ_WRITE);//GL_WRITE_ONLY);
|
||||
return hPosData;
|
||||
}
|
||||
|
||||
void ParticleSystem::copyBuffersFromHostToDevice()
|
||||
{
|
||||
glUnmapBufferARB(GL_ARRAY_BUFFER);
|
||||
copyArrayToDevice(m_dVel[m_currentVelRead],m_hVel, 0, sizeof(float)*4*m_numParticles);
|
||||
}
|
||||
|
||||
|
||||
|
||||
float* ParticleSystem::getArray(ParticleArray array)
|
||||
{
|
||||
return m_broadphase->getArray((btCudaBroadphase::ParticleArray)array);
|
||||
|
||||
}
|
||||
void ParticleSystem::debugDraw()
|
||||
{
|
||||
#if USE_BULLET
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void ParticleSystem::reset(ParticleConfig config)
|
||||
{
|
||||
m_broadphase->reset((btCudaBroadphase::ParticleConfig)config);
|
||||
for (int i=0;i<m_bulletParticles.size();i++)
|
||||
{
|
||||
m_bulletParticles[i]->setAngularVelocity(btVector3(0,0,0));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void ParticleSystem::addSphere(int start, float *pos, float *vel, int r, float spacing)
|
||||
{
|
||||
m_broadphase->addSphere(start,pos,vel,r,spacing);
|
||||
}
|
||||
|
||||
unsigned int ParticleSystem::getCurrentReadBuffer() const
|
||||
{
|
||||
return m_broadphase->getCurrentReadBuffer();
|
||||
}
|
||||
unsigned int ParticleSystem::getColorBuffer() const
|
||||
{
|
||||
return m_broadphase->getColorBuffer();
|
||||
}
|
||||
|
||||
void ParticleSystem::dumpGrid()
|
||||
{
|
||||
return m_broadphase->dumpGrid();
|
||||
}
|
||||
|
||||
void ParticleSystem::dumpParticles(uint start, uint count)
|
||||
{
|
||||
m_broadphase->dumpParticles(start,count);
|
||||
}
|
||||
|
||||
int ParticleSystem::getNumParticles() const
|
||||
{
|
||||
return m_params.numBodies;
|
||||
}
|
||||
@@ -41,7 +41,7 @@
|
||||
#include <cuda_gl_interop.h>
|
||||
|
||||
#include "particles_kernel.cu"
|
||||
#include "radixsort.cu"
|
||||
//#include "radixsort.cu"
|
||||
|
||||
//! Check for CUDA error
|
||||
# define CUT_CHECK_ERROR(errorMessage) do { \
|
||||
@@ -77,9 +77,9 @@
|
||||
} } while (0)
|
||||
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void mm_exit(int val)
|
||||
{
|
||||
exit(val);
|
||||
@@ -87,7 +87,7 @@ void mm_exit(int val)
|
||||
|
||||
void cudaInit(int argc, char **argv)
|
||||
{
|
||||
//CUT_DEVICE_INIT(argc, argv);
|
||||
// CUT_DEVICE_INIT(argc, argv);
|
||||
}
|
||||
|
||||
void allocateArray(void **devPtr, size_t size)
|
||||
@@ -117,26 +117,6 @@ void copyArrayFromDevice(void* host, const void* device, unsigned int vbo, int s
|
||||
void copyArrayToDevice(void* device, const void* host, int offset, int size)
|
||||
{
|
||||
MY_CUDA_SAFE_CALL(cudaMemcpy((char *) device + offset, host, size, cudaMemcpyHostToDevice));
|
||||
/*
|
||||
cudaError_t err = cudaMemcpy((char *) device + offset, host, size, cudaMemcpyHostToDevice);
|
||||
switch(err)
|
||||
{
|
||||
case cudaSuccess :
|
||||
return;
|
||||
case cudaErrorInvalidValue :
|
||||
printf("\ncudaErrorInvalidValue : %d\n", err);
|
||||
return;
|
||||
case cudaErrorInvalidDevicePointer :
|
||||
printf("\ncudaErrorInvalidDevicePointer : %d\n", err);
|
||||
return;
|
||||
case cudaErrorInvalidMemcpyDirection :
|
||||
printf("\ncudaErrorInvalidMemcpyDirection : %d\n", err);
|
||||
return;
|
||||
default :
|
||||
printf("\nX3 : %d\n", err);
|
||||
return;
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
void registerGLBufferObject(uint vbo)
|
||||
@@ -280,27 +260,6 @@ reorderDataAndFindCellStart(uint* particleHash,
|
||||
MY_CUDA_SAFE_CALL(cudaGLUnmapBufferObject(vboOldPos));
|
||||
}
|
||||
|
||||
#if 1
|
||||
void
|
||||
findCellStart( uint* particleHash,
|
||||
uint* cellStart,
|
||||
uint numBodies,
|
||||
uint numCells)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
computeGridSize(numBodies, 256, numBlocks, numThreads);
|
||||
|
||||
MY_CUDA_SAFE_CALL(cudaMemset(cellStart, 0xffffffff, numCells*sizeof(uint)));
|
||||
|
||||
findCellStartD<<< numBlocks, numThreads >>>(
|
||||
(uint2 *) particleHash,
|
||||
(uint *) cellStart);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: findCellStartD");
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
void
|
||||
collide(uint vboOldPos, uint vboNewPos,
|
||||
float* sortedPos, float* sortedVel,
|
||||
@@ -374,71 +333,4 @@ collide(uint vboOldPos, uint vboNewPos,
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
btCudaFindOverlappingPairs( float* pAABB,
|
||||
uint* pParticleHash,
|
||||
uint* pCellStart,
|
||||
uint* pPairBuff,
|
||||
uint* pPairBuffStartCurr,
|
||||
uint numParticles)
|
||||
{
|
||||
|
||||
// cudaError err = cudaMemset(pPairBuff, 0x00, numParticles*32*4);
|
||||
// if(err != cudaSuccess)
|
||||
// {
|
||||
// printf("\nAAAAA\n");
|
||||
// }
|
||||
|
||||
|
||||
MY_CUDA_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numParticles*2*sizeof(float4)));
|
||||
|
||||
int numThreads, numBlocks;
|
||||
// computeGridSize(numParticles, 256, numBlocks, numThreads);
|
||||
computeGridSize(numParticles, 64, numBlocks, numThreads);
|
||||
// numThreads = 1;
|
||||
// numBlocks = 1;
|
||||
btCudaFindOverlappingPairsD<<< numBlocks, numThreads >>>(
|
||||
(float4 *)pAABB,
|
||||
(uint2*)pParticleHash,
|
||||
(uint*)pCellStart,
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
numParticles
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: btCudaFindOverlappingPairsD");
|
||||
MY_CUDA_SAFE_CALL(cudaUnbindTexture(pAABBTex));
|
||||
} // btCudaFindOverlappingPairs()
|
||||
|
||||
|
||||
void
|
||||
btCudaComputePairCacheChanges(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint numParticles)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
computeGridSize(numParticles, 256, numBlocks, numThreads);
|
||||
|
||||
btCudaComputePairCacheChangesD<<< numBlocks, numThreads >>>(
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
(uint*)pPairScan
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
|
||||
} // btCudaFindOverlappingPairs()
|
||||
|
||||
|
||||
void
|
||||
btCudaSqueezeOverlappingPairBuff(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, uint numParticles)
|
||||
{
|
||||
int numThreads, numBlocks;
|
||||
computeGridSize(numParticles, 256, numBlocks, numThreads);
|
||||
|
||||
btCudaSqueezeOverlappingPairBuffD<<< numBlocks, numThreads >>>(
|
||||
(uint*)pPairBuff,
|
||||
(uint2*)pPairBuffStartCurr,
|
||||
(uint*)pPairScan,
|
||||
pPairOut
|
||||
);
|
||||
CUT_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
|
||||
}
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
@@ -42,12 +42,6 @@ reorderDataAndFindCellStart(uint* particleHash,
|
||||
uint numBodies,
|
||||
uint numCells);
|
||||
|
||||
void
|
||||
findCellStart( uint* particleHash,
|
||||
uint* cellStart,
|
||||
uint numBodies,
|
||||
uint numCells);
|
||||
|
||||
void
|
||||
collide(uint vboOldPos, uint vboNewPos,
|
||||
float* sortedPos, float* sortedVel,
|
||||
@@ -60,19 +54,4 @@ collide(uint vboOldPos, uint vboNewPos,
|
||||
uint numCells,
|
||||
uint maxParticlesPerCell);
|
||||
|
||||
void
|
||||
btCudaFindOverlappingPairs( float* pAABB,
|
||||
uint* pParticleHash,
|
||||
uint* pCellStart,
|
||||
uint* pPairBuff,
|
||||
uint* pPairBuffStartCurr,
|
||||
uint numParticles);
|
||||
|
||||
void
|
||||
btCudaComputePairCacheChanges(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint numParticles);
|
||||
|
||||
|
||||
void btCudaSqueezeOverlappingPairBuff(uint* pPairBuff, uint* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, uint numParticles);
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -35,6 +35,7 @@
|
||||
|
||||
#include "particles_kernel.cuh"
|
||||
#include "vector_functions.h"
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
// CUDA BodySystem: runs on the GPU
|
||||
@@ -44,13 +45,6 @@ public:
|
||||
ParticleSystem(uint numParticles, uint3 gridSize);
|
||||
~ParticleSystem();
|
||||
|
||||
|
||||
enum ParticleArray
|
||||
{
|
||||
POSITION,
|
||||
VELOCITY,
|
||||
};
|
||||
|
||||
enum ParticleConfig
|
||||
{
|
||||
CONFIG_RANDOM,
|
||||
@@ -58,6 +52,12 @@ public:
|
||||
_NUM_CONFIGS
|
||||
};
|
||||
|
||||
enum ParticleArray
|
||||
{
|
||||
POSITION,
|
||||
VELOCITY,
|
||||
};
|
||||
|
||||
enum SimulationMode
|
||||
{
|
||||
SIMULATION_CUDA,
|
||||
@@ -65,33 +65,19 @@ public:
|
||||
SIMULATION_NUM_MODES
|
||||
};
|
||||
|
||||
void reset(ParticleConfig config);
|
||||
void debugDraw();
|
||||
|
||||
|
||||
///
|
||||
///Bullet data
|
||||
///
|
||||
|
||||
void initializeBullet();
|
||||
void finalizeBullet();
|
||||
class btDiscreteDynamicsWorld* m_dynamicsWorld;
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
class btCudaBroadphase* m_broadphase;
|
||||
// class btBroadphaseInterface* m_broadphase;
|
||||
class btSequentialImpulseConstraintSolver* m_constraintSolver;
|
||||
btAlignedObjectArray<class btRigidBody*> m_bulletParticles;
|
||||
|
||||
|
||||
void update(float deltaTime);
|
||||
void updateCuda(float deltaTime);
|
||||
void updateBullet(float deltaTime);
|
||||
void reset(ParticleConfig config);
|
||||
|
||||
float* getArray(ParticleArray array);
|
||||
void setArray(ParticleArray array, const float* data, int start, int count);
|
||||
|
||||
int getNumParticles() const;
|
||||
int getNumParticles() const { return m_numParticles; }
|
||||
|
||||
unsigned int getCurrentReadBuffer() const;
|
||||
unsigned int getColorBuffer() const;
|
||||
unsigned int getCurrentReadBuffer() const { return m_posVbo[m_currentPosRead]; }
|
||||
unsigned int getColorBuffer() const { return m_colorVBO; }
|
||||
|
||||
void dumpGrid();
|
||||
void dumpParticles(uint start, uint count);
|
||||
@@ -127,21 +113,73 @@ public:
|
||||
m_simulationMode=mode;
|
||||
}
|
||||
|
||||
void debugDraw();
|
||||
|
||||
protected: // methods
|
||||
ParticleSystem()
|
||||
: m_simulationMode(SIMULATION_CUDA)
|
||||
{}
|
||||
ParticleSystem() {}
|
||||
uint createVBO(uint size);
|
||||
|
||||
void _initialize(int numParticles);
|
||||
void _finalize();
|
||||
|
||||
void initGrid(uint *size, float spacing, float jitter, uint numParticles);
|
||||
|
||||
|
||||
protected:
|
||||
// Bullet data
|
||||
void initializeBullet();
|
||||
void finalizeBullet();
|
||||
class btDiscreteDynamicsWorld* m_dynamicsWorld;
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
// class btCudaBroadphase* m_broadphase;
|
||||
class btBroadphaseInterface* m_broadphase;
|
||||
class btSequentialImpulseConstraintSolver* m_constraintSolver;
|
||||
btAlignedObjectArray<class btRigidBody*> m_bulletParticles;
|
||||
btRigidBody* m_bulletCollider;
|
||||
|
||||
|
||||
float* copyBuffersFromDeviceToHost();
|
||||
void copyBuffersFromHostToDevice();
|
||||
|
||||
protected: // data
|
||||
bool m_bInitialized;
|
||||
uint m_numParticles;
|
||||
|
||||
// CPU data
|
||||
float* m_hPos;
|
||||
float* m_hVel;
|
||||
|
||||
uint* m_hGridCounters;
|
||||
uint* m_hGridCells;
|
||||
|
||||
uint* m_hParticleHash;
|
||||
uint* m_hCellStart;
|
||||
|
||||
// GPU data
|
||||
float* m_dPos[2];
|
||||
float* m_dVel[2];
|
||||
|
||||
float* m_dSortedPos;
|
||||
float* m_dSortedVel;
|
||||
|
||||
// uniform grid data
|
||||
uint* m_dGridCounters; // counts number of entries per grid cell
|
||||
uint* m_dGridCells; // contains indices of up to "m_maxParticlesPerCell" particles per cell
|
||||
|
||||
uint* m_dParticleHash[2];
|
||||
uint* m_dCellStart;
|
||||
|
||||
uint m_posVbo[2];
|
||||
uint m_colorVBO;
|
||||
|
||||
uint m_currentPosRead, m_currentVelRead;
|
||||
uint m_currentPosWrite, m_currentVelWrite;
|
||||
|
||||
// params
|
||||
SimParams m_params;
|
||||
uint3 m_gridSize;
|
||||
uint m_numGridCells;
|
||||
uint m_maxParticlesPerCell;
|
||||
|
||||
uint m_timer;
|
||||
@@ -149,6 +187,7 @@ protected: // data
|
||||
uint m_solverIterations;
|
||||
|
||||
SimulationMode m_simulationMode;
|
||||
|
||||
};
|
||||
|
||||
#endif // __BODYSYSTEMCUDA_H__
|
||||
|
||||
@@ -45,7 +45,6 @@
|
||||
#include <GL/glut.h>
|
||||
#endif
|
||||
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
#include "particleSystem.h"
|
||||
@@ -62,8 +61,6 @@ float camera_rot_lag[] = {0, 0, 0};
|
||||
const float inertia = 0.1;
|
||||
ParticleRenderer::DisplayMode displayMode = ParticleRenderer::PARTICLE_SPHERES;
|
||||
|
||||
|
||||
|
||||
int mode = 0;
|
||||
bool displayEnabled = true;
|
||||
bool bPause = false;
|
||||
@@ -91,6 +88,9 @@ float collideAttraction = 0.0f;
|
||||
ParticleSystem *psystem = 0;
|
||||
|
||||
// fps
|
||||
static int fpsCount = 0;
|
||||
static int fpsLimit = 1;
|
||||
unsigned int timer;
|
||||
|
||||
ParticleRenderer *renderer = 0;
|
||||
|
||||
@@ -109,7 +109,7 @@ void init(int numParticles, uint3 gridSize)
|
||||
renderer->setParticleRadius(psystem->getParticleRadius());
|
||||
renderer->setColorBuffer(psystem->getColorBuffer());
|
||||
|
||||
|
||||
// CUT_SAFE_CALL(cutCreateTimer(&timer));
|
||||
}
|
||||
|
||||
void initGL()
|
||||
@@ -129,7 +129,6 @@ void initGL()
|
||||
|
||||
void display()
|
||||
{
|
||||
|
||||
// update the simulation
|
||||
if (!bPause)
|
||||
{
|
||||
@@ -143,8 +142,6 @@ void display()
|
||||
|
||||
psystem->update(timestep);
|
||||
renderer->setVertexBuffer(psystem->getCurrentReadBuffer(), psystem->getNumParticles());
|
||||
float* posArray = psystem->getArray(ParticleSystem::POSITION);
|
||||
renderer->setPositions(posArray,psystem->getNumParticles());
|
||||
}
|
||||
|
||||
// render
|
||||
@@ -168,9 +165,7 @@ void display()
|
||||
glColor3f(1.0, 1.0, 1.0);
|
||||
glutWireCube(2.0);
|
||||
|
||||
|
||||
|
||||
// collider
|
||||
// collider
|
||||
glPushMatrix();
|
||||
float4 p = psystem->getColliderPos();
|
||||
glTranslatef(p.x, p.y, p.z);
|
||||
@@ -195,18 +190,12 @@ void display()
|
||||
psystem->debugDraw();
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
// glDisable(GL_LIGHTING);
|
||||
// glColor3f(0, 0, 0);
|
||||
float offsX = 10.f;
|
||||
float offsY = 10.f;
|
||||
renderer->showProfileInfo(offsX, offsY, 20.f);
|
||||
// glEnable(GL_LIGHTING);
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
glutSwapBuffers();
|
||||
|
||||
{
|
||||
@@ -233,6 +222,7 @@ void display()
|
||||
}
|
||||
|
||||
glutReportErrors();
|
||||
|
||||
}
|
||||
|
||||
void reshape(int w, int h)
|
||||
@@ -375,7 +365,6 @@ inline float frand()
|
||||
// commented out to remove unused parameter warnings in Linux
|
||||
void key(unsigned char key, int /*x*/, int /*y*/)
|
||||
{
|
||||
|
||||
#ifndef BT_NO_PROFILE
|
||||
if (key >= 0x31 && key < 0x37)
|
||||
{
|
||||
@@ -407,12 +396,9 @@ void key(unsigned char key, int /*x*/, int /*y*/)
|
||||
case 'm':
|
||||
mode = M_MOVE;
|
||||
break;
|
||||
case 's':
|
||||
psystem->setSimulationMode((ParticleSystem::SimulationMode) ((psystem->getSimulationMode() + 1) % ParticleSystem::SIMULATION_NUM_MODES));
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
displayMode = (ParticleRenderer::DisplayMode) ((displayMode + 1) % ParticleRenderer::PARTICLE_NUM_MODES);
|
||||
displayMode = (ParticleRenderer::DisplayMode)
|
||||
((displayMode + 1) % ParticleRenderer::PARTICLE_NUM_MODES);
|
||||
break;
|
||||
case 'd':
|
||||
psystem->dumpGrid();
|
||||
@@ -474,6 +460,10 @@ void key(unsigned char key, int /*x*/, int /*y*/)
|
||||
case 'h':
|
||||
displaySliders = !displaySliders;
|
||||
break;
|
||||
case 's':
|
||||
psystem->setSimulationMode((ParticleSystem::SimulationMode) ((psystem->getSimulationMode() + 1) % ParticleSystem::SIMULATION_NUM_MODES));
|
||||
CProfileManager::CleanupMemory();
|
||||
break;
|
||||
}
|
||||
|
||||
glutPostRedisplay();
|
||||
@@ -536,16 +526,22 @@ void initMenus()
|
||||
int
|
||||
main(int argc, char** argv)
|
||||
{
|
||||
// numParticles =1024;//1024;//64;//16380;//32768;
|
||||
numParticles =8192;
|
||||
// numParticles = 65536*2;
|
||||
// numParticles = 65536;
|
||||
// numParticles = 32768;
|
||||
// numParticles = 8192;
|
||||
// numParticles = 4096;
|
||||
numParticles = 2048;
|
||||
// numParticles = 1024;
|
||||
// numParticles = 256;
|
||||
// numParticles = 32;
|
||||
// numParticles = 2;
|
||||
uint gridDim = 64;
|
||||
numIterations = 0;
|
||||
|
||||
gridSize.x = gridSize.y = gridSize.z = gridDim;
|
||||
printf("grid: %d x %d x %d = %d cells\n", gridSize.x, gridSize.y, gridSize.z, gridSize.x*gridSize.y*gridSize.z);
|
||||
|
||||
bool benchmark = false;
|
||||
|
||||
cudaInit(argc, argv);
|
||||
|
||||
glutInit(&argc, argv);
|
||||
@@ -558,7 +554,6 @@ main(int argc, char** argv)
|
||||
initParams();
|
||||
initMenus();
|
||||
|
||||
|
||||
glutDisplayFunc(display);
|
||||
glutReshapeFunc(reshape);
|
||||
glutMouseFunc(mouse);
|
||||
@@ -569,7 +564,6 @@ main(int argc, char** argv)
|
||||
|
||||
glutMainLoop();
|
||||
|
||||
|
||||
if (psystem)
|
||||
delete psystem;
|
||||
|
||||
|
||||
228
Extras/CUDA/particles.sln
Normal file
228
Extras/CUDA/particles.sln
Normal file
@@ -0,0 +1,228 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 9.00
|
||||
# Visual Studio 2005
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "particles", "particles.vcproj", "{AF7F45C7-8545-4CA2-B835-FDE8823B7B09}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{F74E8E02-0B47-4816-BD0B-FAEAE3343165} = {F74E8E02-0B47-4816-BD0B-FAEAE3343165}
|
||||
{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
|
||||
{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
|
||||
{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
|
||||
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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EndGlobalSection
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EndGlobal
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>
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@@ -70,7 +70,7 @@
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/>
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@@ -149,11 +149,11 @@
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ProgramDatabaseFile="$(OutDir)/btCudaBroadphase.pdb"
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ProgramDatabaseFile="$(OutDir)/particles.pdb"
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TargetMachine="17"
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/>
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@@ -209,7 +209,7 @@
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Name="VCCLCompilerTool"
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@@ -227,8 +227,8 @@
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AdditionalDependencies="cudart.lib glew32.lib"
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AdditionalDependencies="cudart.lib glew32.lib"
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@@ -309,7 +309,7 @@
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@@ -391,12 +391,12 @@
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Name="VCCustomBuildTool"
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CommandLine=""$(CUDA_BIN_PATH)\nvcc.exe" -arch=sm_10 -ccbin "$(VCInstallDir)\bin" -c -D_DEBUG -DWIN32 -D_CONSOLE -D_MBCS -Xcompiler /EHsc,/W3,/nologo,/Wp64,/Od,/Zi,/RTC1,/MTd -I "$(CUDA_INC_PATH)"; -I./ -Icommon/inc -I../../Glut -o $(ConfigurationName)\particleSystem_cu.obj particleSystem.cu
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CommandLine=""$(CUDA_BIN_PATH)\nvcc.exe" -arch=sm_10 -ccbin "$(VCInstallDir)\bin" -c -D_DEBUG -DWIN32 -D_CONSOLE -D_MBCS -Xcompiler /EHsc,/W3,/nologo,/Wp64,/Od,/Zi,/RTC1,/MTd -I "$(CUDA_INC_PATH)"; -I./ -I../../Glut -o $(ConfigurationName)\particleSystem_cu.obj particleSystem.cu
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@@ -877,95 +857,6 @@
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<File
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<Tool
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<FileConfiguration
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<File
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RelativePath=".\render_particles.cpp"
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>
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@@ -983,46 +874,6 @@
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>
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</Filter>
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>
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</File>
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<File
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RelativePath="..\..\Demos\OpenGL\BMF_BitmapFont.h"
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>
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</File>
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<File
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RelativePath="..\..\Demos\OpenGL\BMF_FontData.h"
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>
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</File>
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<File
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RelativePath="..\..\Demos\OpenGL\BMF_Fonts.h"
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>
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<File
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RelativePath=".\btCudaBroadphase.h"
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>
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</File>
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<File
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RelativePath=".\VTune\btCudaBroadphase.vpj"
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>
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<File
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RelativePath=".\cutil_math.h"
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>
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<File
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RelativePath="..\..\Demos\OpenGL\GLDebugDrawer.h"
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>
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</File>
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<File
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RelativePath=".\param.h"
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>
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</File>
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<File
|
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RelativePath=".\paramgl.h"
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>
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</File>
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</Files>
|
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<Globals>
|
||||
</Globals>
|
||||
@@ -50,10 +50,6 @@ texture<uint, 1, cudaReadModeElementType> cellStartTex;
|
||||
|
||||
texture<uint, 1, cudaReadModeElementType> gridCountersTex;
|
||||
texture<uint, 1, cudaReadModeElementType> gridCellsTex;
|
||||
|
||||
texture<float4, 1, cudaReadModeElementType> pAABBTex;
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
__constant__ SimParams params;
|
||||
@@ -203,35 +199,6 @@ reorderDataAndFindCellStartD(uint2* particleHash, // particle id sorted by has
|
||||
|
||||
}
|
||||
|
||||
|
||||
__global__ void
|
||||
findCellStartD(uint2* particleHash, // particle id sorted by hash
|
||||
uint* cellStart)
|
||||
{
|
||||
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
|
||||
|
||||
uint2 sortedData = particleHash[index];
|
||||
|
||||
// Load hash data into shared memory so that we can look
|
||||
// at neighboring particle's hash value without loading
|
||||
// two hash values per thread
|
||||
__shared__ uint sharedHash[257];
|
||||
sharedHash[threadIdx.x+1] = sortedData.x;
|
||||
if (index > 0 && threadIdx.x == 0)
|
||||
{
|
||||
// first thread in block must load neighbor particle hash
|
||||
volatile uint2 prevData = particleHash[index-1];
|
||||
sharedHash[0] = prevData.x;
|
||||
}
|
||||
|
||||
__syncthreads();
|
||||
if (index == 0 || sortedData.x != sharedHash[threadIdx.x])
|
||||
{
|
||||
cellStart[sortedData.x] = index;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// collide two spheres using DEM method
|
||||
__device__ float3 collideSpheres(float4 posA, float4 posB,
|
||||
float4 velA, float4 velB,
|
||||
@@ -411,167 +378,4 @@ collideD(float4* newPos, float4* newVel,
|
||||
#endif
|
||||
}
|
||||
|
||||
__device__
|
||||
uint cudaTestAABBOverlap(float4 min0, float4 max0, float4 min1, float4 max1)
|
||||
{
|
||||
return (min0.x <= max1.x)&& (min1.x <= max0.x) &&
|
||||
(min0.y <= max1.y)&& (min1.y <= max0.y) &&
|
||||
(min0.z <= max1.z)&& (min1.z <= max0.z);
|
||||
}
|
||||
|
||||
|
||||
__device__
|
||||
void findPairsInCell( int3 gridPos,
|
||||
uint index,
|
||||
uint2* pParticleHash,
|
||||
uint* pCellStart,
|
||||
float4* pAABB,
|
||||
uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr,
|
||||
uint numParticles)
|
||||
{
|
||||
if ((gridPos.x < 0) || (gridPos.x > params.gridSize.x-1) ||
|
||||
(gridPos.y < 0) || (gridPos.y > params.gridSize.y-1) ||
|
||||
(gridPos.z < 0) || (gridPos.z > params.gridSize.z-1)) {
|
||||
return;
|
||||
}
|
||||
uint gridHash = calcGridHash(gridPos);
|
||||
// get start of bucket for this cell
|
||||
uint bucketStart = pCellStart[gridHash];
|
||||
if (bucketStart == 0xffffffff)
|
||||
return; // cell empty
|
||||
// iterate over particles in this cell
|
||||
// float4 min0 = pAABB[index*2];
|
||||
// float4 max0 = pAABB[index*2+1];
|
||||
float4 min0 = FETCH(pAABB, index*2); // pAABB[index*2];
|
||||
float4 max0 = FETCH(pAABB, index*2 + 1); // pAABB[index*2+1];
|
||||
|
||||
uint2 sortedData = pParticleHash[index];
|
||||
uint unsorted_indx = sortedData.y;
|
||||
uint2 start_curr = pPairBuffStartCurr[unsorted_indx];
|
||||
// uint2 start_curr = pPairBuffStartCurr[index];
|
||||
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint bucketEnd = bucketStart + params.maxParticlesPerCell;
|
||||
bucketEnd = (bucketEnd > numParticles) ? numParticles : bucketEnd;
|
||||
for(uint index2=bucketStart; index2 < bucketEnd; index2++)
|
||||
{
|
||||
uint2 cellData = pParticleHash[index2];
|
||||
if (cellData.x != gridHash) break; // no longer in same bucket
|
||||
if (index2 != index) // check not colliding with self
|
||||
{
|
||||
uint unsorted_indx2 = cellData.y;
|
||||
if(unsorted_indx2 < unsorted_indx)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
// float4 min1 = pAABB[index2*2];
|
||||
// float4 max1 = pAABB[index2*2 + 1];
|
||||
float4 min1 = FETCH(pAABB, index2*2);// pAABB[index2*2];
|
||||
float4 max1 = FETCH(pAABB, index2*2 + 1); // pAABB[index2*2 + 1];
|
||||
if(cudaTestAABBOverlap(min0, max0, min1, max1))
|
||||
{
|
||||
uint k;
|
||||
for(k = 0; k < curr; k++)
|
||||
{
|
||||
uint old_pair = pPairBuff[start+k] & (~BT_CUDA_PAIR_ANY_FLG);
|
||||
if(old_pair == unsorted_indx2)
|
||||
{
|
||||
pPairBuff[start+k] |= BT_CUDA_PAIR_FOUND_FLG;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(k == curr)
|
||||
{
|
||||
pPairBuff[start+curr] = unsorted_indx2 | BT_CUDA_PAIR_NEW_FLG;
|
||||
curr++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[unsorted_indx] = make_uint2(start, curr);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
__global__ void
|
||||
btCudaFindOverlappingPairsD(
|
||||
float4* pAABB,
|
||||
uint2* pParticleHash,
|
||||
uint* pCellStart,
|
||||
uint* pPairBuff,
|
||||
uint2* pPairBuffStartCurr,
|
||||
uint numParticles
|
||||
)
|
||||
{
|
||||
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
|
||||
float4 bbMin = pAABB[index*2];
|
||||
float4 bbMax = pAABB[index*2+1];
|
||||
float4 pos = (bbMin + bbMax) * 0.5f;
|
||||
// get address in grid
|
||||
int3 gridPos = calcGridPos(pos);
|
||||
// examine only neighbouring cells
|
||||
for(int z=-1; z<=1; z++) {
|
||||
for(int y=-1; y<=1; y++) {
|
||||
for(int x=-1; x<=1; x++) {
|
||||
findPairsInCell(gridPos + make_int3(x, y, z), index, pParticleHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numParticles);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
__global__ void
|
||||
btCudaComputePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan)
|
||||
{
|
||||
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
|
||||
uint2 start_curr = pPairBuffStartCurr[index];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint *pInp = pPairBuff + start;
|
||||
uint num_changes = 0;
|
||||
for(uint k = 0; k < curr; k++, pInp++)
|
||||
{
|
||||
if(!((*pInp) & BT_CUDA_PAIR_FOUND_FLG))
|
||||
{
|
||||
num_changes++;
|
||||
}
|
||||
}
|
||||
pPairScan[index+1] = num_changes;
|
||||
}
|
||||
|
||||
|
||||
__global__ void
|
||||
btCudaSqueezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut)
|
||||
{
|
||||
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
|
||||
uint2 start_curr = pPairBuffStartCurr[index];
|
||||
uint start = start_curr.x;
|
||||
uint curr = start_curr.y;
|
||||
uint* pInp = pPairBuff + start;
|
||||
uint* pOut = pPairOut + pPairScan[index];
|
||||
uint* pOut2 = pInp;
|
||||
uint num = 0;
|
||||
for(uint k = 0; k < curr; k++, pInp++)
|
||||
{
|
||||
if(!((*pInp) & BT_CUDA_PAIR_FOUND_FLG))
|
||||
{
|
||||
*pOut = *pInp;
|
||||
pOut++;
|
||||
}
|
||||
if((*pInp) & BT_CUDA_PAIR_ANY_FLG)
|
||||
{
|
||||
*pOut2 = (*pInp) & (~BT_CUDA_PAIR_ANY_FLG);
|
||||
pOut2++;
|
||||
num++;
|
||||
}
|
||||
}
|
||||
pPairBuffStartCurr[index] = make_uint2(start, num);
|
||||
} // btCudaBroadphase::squeezeOverlappingPairBuffCPU_D()
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
@@ -14,12 +14,6 @@
|
||||
#define FETCH(t, i) t[i]
|
||||
#endif
|
||||
|
||||
|
||||
#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)
|
||||
|
||||
|
||||
#include "vector_types.h"
|
||||
typedef unsigned int uint;
|
||||
|
||||
@@ -47,7 +41,6 @@ struct SimParams {
|
||||
float shear;
|
||||
float attraction;
|
||||
float boundaryDamping;
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -33,12 +33,13 @@
|
||||
#include <assert.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <paramgl.h>
|
||||
#include "BMF_Api.h"
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
#include "render_particles.h"
|
||||
#include "shaders.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "paramgl.h"
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.1415926535897932384626433832795
|
||||
@@ -186,7 +187,7 @@ void ParticleRenderer::_initGL()
|
||||
#endif
|
||||
}
|
||||
|
||||
#if 1
|
||||
|
||||
void ParticleRenderer::showProfileInfo(float& xOffset,float& yStart, float yIncr)
|
||||
{
|
||||
#ifndef BT_NO_PROFILE
|
||||
@@ -257,5 +258,3 @@ void ParticleRenderer::displayProfileString(int xOffset,int yStart,char* message
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),message);
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -30,9 +30,6 @@
|
||||
#ifndef __RENDER_PARTICLES__
|
||||
#define __RENDER_PARTICLES__
|
||||
|
||||
|
||||
class CProfileIterator;
|
||||
|
||||
class ParticleRenderer
|
||||
{
|
||||
public:
|
||||
@@ -62,7 +59,6 @@ public:
|
||||
void displayProfileString(int xOffset,int yStart,char* message);
|
||||
class CProfileIterator* m_profileIterator;
|
||||
|
||||
|
||||
protected: // methods
|
||||
void _initGL();
|
||||
void _drawPoints();
|
||||
|
||||
Reference in New Issue
Block a user