more work towards re-enabling grid broadphase.
This commit is contained in:
erwincoumans
@@ -1,17 +1,99 @@
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#include "b3GpuGridBroadphase.h"
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#include "Bullet3Geometry/b3AabbUtil.h"
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#include "kernels/gridBroadphaseKernels.h"
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//#include "kernels/gridBroadphase.cl"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"
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cl_kernel kCalcHashAABB;
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cl_kernel kClearCellStart;
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cl_kernel kFindCellStart;
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cl_kernel kFindOverlappingPairs;
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cl_kernel kFindPairsLarge;
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cl_kernel kComputePairCacheChanges;
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cl_kernel kSqueezeOverlappingPairBuff;
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int maxPairsPerBody = 32;
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int maxBodiesPerCell = 1024;//??
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b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q )
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:m_context(ctx),
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m_device(device),
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m_queue(q),
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m_allAabbsGPU(ctx,q),
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m_gpuPairs(ctx,q)
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m_gpuPairs(ctx,q),
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m_hashGpu(ctx,q),
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m_paramsGPU(ctx,q),
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m_cellStartGpu(ctx,q)
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{
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b3Vector3 gridSize = b3MakeVector3(3,3,3);
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b3Vector3 invGridSize = b3MakeVector3(1.f/gridSize[0],1.f/gridSize[1],1.f/gridSize[2]);
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m_paramsCPU.m_gridSize[0] = 128;
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m_paramsCPU.m_gridSize[1] = 128;
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m_paramsCPU.m_gridSize[2] = 128;
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m_paramsCPU.m_gridSize[3] = maxBodiesPerCell;
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m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell);
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m_paramsCPU.m_invCellSize[0] = invGridSize[0];
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m_paramsCPU.m_invCellSize[1] = invGridSize[1];
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m_paramsCPU.m_invCellSize[2] = invGridSize[2];
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m_paramsCPU.m_invCellSize[3] = 0.f;
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m_paramsGPU.push_back(m_paramsCPU);
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cl_int errNum=0;
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cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,0,&errNum,"",B3_GRID_BROADPHASE_PATH,true);
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b3Assert(errNum==CL_SUCCESS);
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kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kCalcHashAABB",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kClearCellStart",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindCellStart",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindOverlappingPairs",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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kFindPairsLarge = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindPairsLarge",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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kComputePairCacheChanges = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kComputePairCacheChanges",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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kSqueezeOverlappingPairBuff = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kSqueezeOverlappingPairBuff",&errNum,gridProg);
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b3Assert(errNum==CL_SUCCESS);
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m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);
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}
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b3GpuGridBroadphase::~b3GpuGridBroadphase()
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{
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clReleaseKernel( kCalcHashAABB);
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clReleaseKernel( kClearCellStart);
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clReleaseKernel( kFindCellStart);
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clReleaseKernel( kFindOverlappingPairs);
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clReleaseKernel( kFindPairsLarge);
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clReleaseKernel( kComputePairCacheChanges);
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clReleaseKernel( kSqueezeOverlappingPairBuff);
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delete m_sorter;
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}
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@@ -34,6 +116,109 @@ void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Ve
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void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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calculateOverlappingPairsHost(maxPairs);
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return;
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int numAabbs = m_allAabbsGPU.size();
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if (numAabbs)
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{
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m_hashGpu.resize(numAabbs);
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{
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b3LauncherCL launch(m_queue,kCalcHashAABB);
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launch.setConst(numAabbs);
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launch.setBuffer(m_allAabbsGPU.getBufferCL());
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(this->m_paramsGPU.getBufferCL());
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launch.launch1D(numAabbs);
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}
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m_sorter->execute(m_hashGpu);
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int numCells = this->m_paramsCPU.m_gridSize[0]*this->m_paramsCPU.m_gridSize[1]*this->m_paramsCPU.m_gridSize[2];
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m_cellStartGpu.resize(numCells);
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//b3AlignedObjectArray<int > cellStartCpu;
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{
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b3LauncherCL launch(m_queue,kClearCellStart);
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launch.setConst(numCells);
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.launch1D(numCells);
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//m_cellStartGpu.copyToHost(cellStartCpu);
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//printf("??\n");
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}
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{
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b3LauncherCL launch(m_queue,kFindCellStart);
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launch.setConst(numAabbs);
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.launch1D(numAabbs);
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//m_cellStartGpu.copyToHost(cellStartCpu);
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//printf("??\n");
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}
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{
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b3OpenCLArray<b3Int2> pairsGpu2(m_context,m_queue);
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b3OpenCLArray<unsigned int> pairsGpu(m_context,m_queue);
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b3OpenCLArray<unsigned int> pairStartCurGpu(m_context,m_queue);
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b3AlignedObjectArray<unsigned int> pairStartCpu;
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m_gpuPairs.resize(numAabbs*maxPairsPerBody);
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pairsGpu2.resize(numAabbs*maxPairsPerBody);
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pairsGpu.resize(numAabbs*maxPairsPerBody);
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pairStartCurGpu.resize(numAabbs*2+2);
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pairStartCpu.resize(numAabbs*2+2);
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pairStartCpu[0] = 0;
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pairStartCpu[1] = 0;
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for(int i = 1; i <= numAabbs; i++)
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{
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pairStartCpu[i * 2] = pairStartCpu[(i-1) * 2] + maxPairsPerBody;
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pairStartCpu[i * 2 + 1] = 0;
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}
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pairStartCurGpu.copyFromHost(pairStartCpu);
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b3OpenCLArray<int> pairCount(m_context,m_queue);
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pairCount.push_back(0);
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b3LauncherCL launch(m_queue,kFindOverlappingPairs);
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launch.setConst(numAabbs);
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launch.setBuffer(m_allAabbsGPU.getBufferCL());
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.setBuffer(pairsGpu.getBufferCL());
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launch.setBuffer(pairStartCurGpu.getBufferCL());
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launch.setBuffer(m_paramsGPU.getBufferCL());
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//launch.setBuffer(0);
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launch.setBuffer(pairCount.getBufferCL());
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launch.setBuffer(m_gpuPairs.getBufferCL());
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launch.launch1D(numAabbs);
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int actualCount = pairCount.at(0);
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//b3AlignedObjectArray<b3Int4> pairsCpu;
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m_gpuPairs.resize(actualCount);
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//m_gpuPairs.copyToHost(pairsCpu);
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//printf("?!?\n");
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}
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}
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//calculateOverlappingPairsHost(maxPairs);
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}
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void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
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{
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