Draft Parallel Linear BVH Broadphase.

src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h

@@ -0,0 +1,98 @@
+/*
+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.
+*/
+//Initial Author Jackson Lee, 2014
+
+#ifndef B3_GPU_PARALLEL_LINEAR_BVH_BROADPHASE_H
+#define B3_GPU_PARALLEL_LINEAR_BVH_BROADPHASE_H
+
+#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
+
+#include "b3GpuParallelLinearBvh.h"
+
+class b3GpuParallelLinearBvhBroadphase : public b3GpuBroadphaseInterface
+{
+	b3GpuParallelLinearBvh m_plbvh;
+	
+	b3OpenCLArray<b3Int4> m_overlappingPairsGpu;
+	b3OpenCLArray<b3SapAabb> m_aabbsGpu;
+	b3OpenCLArray<int> m_tempNumPairs;
+	
+	b3AlignedObjectArray<b3SapAabb> m_aabbsCpu;
+	
+public:
+	b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue) : 
+		m_plbvh(context, device, queue),
+		
+		m_overlappingPairsGpu(context, queue),
+		m_aabbsGpu(context, queue),
+		m_tempNumPairs(context, queue)
+	{
+		m_tempNumPairs.resize(1);
+	}
+	virtual ~b3GpuParallelLinearBvhBroadphase() {}
+
+	virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
+	{
+		b3SapAabb aabb;
+		aabb.m_minVec = aabbMin;
+		aabb.m_maxVec = aabbMax;
+		aabb.m_minIndices[3] = userPtr;
+		
+		m_aabbsCpu.push_back(aabb);
+	}
+	virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
+	{
+		b3Assert(0);	//Not implemented
+	}
+	
+	virtual void calculateOverlappingPairs(int maxPairs)
+	{
+		//Detect overall min/max
+		{
+			//Not implemented
+		}
+		
+		//Reconstruct BVH
+		const b3Scalar CELL_SIZE(0.1); 
+		m_plbvh.build(m_aabbsGpu, CELL_SIZE);
+		
+		//
+		m_overlappingPairsGpu.resize(maxPairs);
+		m_plbvh.calculateOverlappingPairs(m_aabbsGpu, m_tempNumPairs, m_overlappingPairsGpu);
+	}
+	virtual void calculateOverlappingPairsHost(int maxPairs)
+	{
+		b3Assert(0);	//CPU version not implemented
+	}
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	virtual void writeAabbsToGpu() { m_aabbsGpu.copyFromHost(m_aabbsCpu); }
+	
+	virtual int	getNumOverlap() { return m_overlappingPairsGpu.size(); }
+	virtual cl_mem getOverlappingPairBuffer() { return m_overlappingPairsGpu.getBufferCL(); }
+
+	virtual cl_mem getAabbBufferWS() { return m_aabbsGpu.getBufferCL(); }
+	virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() { return m_aabbsGpu; }
+	
+	virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
+	{
+		b3Assert(0);	//CPU version not implemented
+		return m_aabbsCpu;
+	}
+	
+	static b3GpuBroadphaseInterface* CreateFunc(cl_context context, cl_device_id device, cl_command_queue queue)
+	{
+		return new b3GpuParallelLinearBvhBroadphase(context, device, queue);
+	}
+};
+
+#endif