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Clean up plbvhCalculateOverlappingPairs kernel.

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Also fix overlapping pair generation with triangle mesh.
(Currently, large/concave AABBs must be the first entry in a pair.)
This commit is contained in:
Jackson Lee
2014-03-14 13:55:22 -07:00
parent f324e66f86
commit b709d6beeb
2 changed files with 20 additions and 31 deletions
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26
src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl
View File

@@ -184,18 +184,12 @@ __kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs,
__global int* out_numPairs, __global int4* out_overlappingPairs, __global int* out_numPairs, __global int4* out_overlappingPairs,
int maxPairs, int numQueryAabbs) int maxPairs, int numQueryAabbs)
{ {
#define USE_SPATIALLY_COHERENT_INDICIES //mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve //Using get_group_id()/get_local_id() is Faster than get_global_id(0) since
#ifdef USE_SPATIALLY_COHERENT_INDICIES //mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)
int queryRigidIndex = get_group_id(0) * get_local_size(0) + get_local_id(0); int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);
if(queryRigidIndex >= numQueryAabbs) return; if(queryBvhNodeIndex >= numQueryAabbs) return;
int queryBvhNodeIndex = queryRigidIndex; int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;
queryRigidIndex = mortonCodesAndAabbIndices[queryRigidIndex].m_value; // fix queryRigidIndex naming for this branch
#else
int queryRigidIndex = get_global_id(0);
if(queryRigidIndex >= numQueryAabbs) return;
#endif
b3AabbCL queryAabb = rigidAabbs[queryRigidIndex]; b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];
int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE]; int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];
@@ -213,17 +207,17 @@ __kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs,
//Optimization - if the BVH is structured as a binary radix tree, then //Optimization - if the BVH is structured as a binary radix tree, then
//each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]). //each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).
//This can be used to avoid testing each AABB-AABB pair twice. //This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.
{ {
int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y; int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;
if(highestLeafIndex < queryBvhNodeIndex) continue; if(highestLeafIndex <= queryBvhNodeIndex) continue;
} }
//bvhRigidIndex is not used if internal node //bvhRigidIndex is not used if internal node
int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1; int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;
b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex]; b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];
if( queryRigidIndex != bvhRigidIndex && TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) ) if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )
{ {
if(isLeaf) if(isLeaf)
{ {
@@ -388,8 +382,8 @@ __kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3A
if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) ) if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )
{ {
int4 pair; int4 pair;
pair.x = smallAabb.m_minIndices[3]; pair.x = largeAabb.m_minIndices[3];
pair.y = largeAabb.m_minIndices[3]; pair.y = smallAabb.m_minIndices[3];
pair.z = NEW_PAIR_MARKER; pair.z = NEW_PAIR_MARKER;
pair.w = NEW_PAIR_MARKER; pair.w = NEW_PAIR_MARKER;

25
src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
View File

@@ -170,17 +170,12 @@ static const char* parallelLinearBvhCL= \
" __global int* out_numPairs, __global int4* out_overlappingPairs, \n" " __global int* out_numPairs, __global int4* out_overlappingPairs, \n"
" int maxPairs, int numQueryAabbs)\n" " int maxPairs, int numQueryAabbs)\n"
"{\n" "{\n"
"#define USE_SPATIALLY_COHERENT_INDICIES //mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve\n" " //Using get_group_id()/get_local_id() is Faster than get_global_id(0) since\n"
"#ifdef USE_SPATIALLY_COHERENT_INDICIES\n" " //mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)\n"
" int queryRigidIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n" " int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
" if(queryRigidIndex >= numQueryAabbs) return;\n" " if(queryBvhNodeIndex >= numQueryAabbs) return;\n"
" \n" " \n"
" int queryBvhNodeIndex = queryRigidIndex;\n" " int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;\n"
" queryRigidIndex = mortonCodesAndAabbIndices[queryRigidIndex].m_value; // fix queryRigidIndex naming for this branch\n"
"#else\n"
" int queryRigidIndex = get_global_id(0);\n"
" if(queryRigidIndex >= numQueryAabbs) return;\n"
"#endif\n"
" b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n" " b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n"
" \n" " \n"
" int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n" " int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
@@ -198,17 +193,17 @@ static const char* parallelLinearBvhCL= \
" \n" " \n"
" //Optimization - if the BVH is structured as a binary radix tree, then\n" " //Optimization - if the BVH is structured as a binary radix tree, then\n"
" //each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n" " //each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n"
" //This can be used to avoid testing each AABB-AABB pair twice.\n" " //This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.\n"
" {\n" " {\n"
" int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n" " int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n"
" if(highestLeafIndex < queryBvhNodeIndex) continue;\n" " if(highestLeafIndex <= queryBvhNodeIndex) continue;\n"
" }\n" " }\n"
" \n" " \n"
" //bvhRigidIndex is not used if internal node\n" " //bvhRigidIndex is not used if internal node\n"
" int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n" " int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
" \n" " \n"
" b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n" " b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
" if( queryRigidIndex != bvhRigidIndex && TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n" " if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n"
" {\n" " {\n"
" if(isLeaf)\n" " if(isLeaf)\n"
" {\n" " {\n"
@@ -365,8 +360,8 @@ static const char* parallelLinearBvhCL= \
" if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n" " if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n"
" {\n" " {\n"
" int4 pair;\n" " int4 pair;\n"
" pair.x = smallAabb.m_minIndices[3];\n" " pair.x = largeAabb.m_minIndices[3];\n"
" pair.y = largeAabb.m_minIndices[3];\n" " pair.y = smallAabb.m_minIndices[3];\n"
" pair.z = NEW_PAIR_MARKER;\n" " pair.z = NEW_PAIR_MARKER;\n"
" pair.w = NEW_PAIR_MARKER;\n" " pair.w = NEW_PAIR_MARKER;\n"
" \n" " \n"