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fix many warnings

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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
This commit is contained in:
Erwin Coumans
2017-01-15 22:26:11 -08:00
parent e3df00d5f1
commit c0c4c8ba3f
146 changed files with 830 additions and 1431 deletions
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4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h
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@@ -19,8 +19,8 @@ public:
{
}
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)=0;
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)=0;
virtual void calculateOverlappingPairs(int maxPairs)=0;
virtual void calculateOverlappingPairsHost(int maxPairs)=0;

9
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
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@@ -38,8 +38,9 @@ m_largeAabbsMappingGPU(ctx,q),
m_gpuPairs(ctx,q),
m_hashGpu(ctx,q),
m_paramsGPU(ctx,q),
m_cellStartGpu(ctx,q)
m_cellStartGpu(ctx,q),
m_paramsGPU(ctx,q)
{
@@ -110,7 +111,7 @@ b3GpuGridBroadphase::~b3GpuGridBroadphase()
void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
b3SapAabb aabb;
aabb.m_minVec = aabbMin;
@@ -122,7 +123,7 @@ void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3
m_allAabbsCPU1.push_back(aabb);
}
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
b3SapAabb aabb;
aabb.m_minVec = aabbMin;

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h
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@@ -63,8 +63,8 @@ public:
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.cpp
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@@ -24,7 +24,7 @@ b3GpuParallelLinearBvhBroadphase::b3GpuParallelLinearBvhBroadphase(cl_context co
{
}
void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
{
int newAabbIndex = m_aabbsCpu.size();
@@ -39,7 +39,7 @@ void b3GpuParallelLinearBvhBroadphase::createProxy(const b3Vector3& aabbMin, con
m_aabbsCpu.push_back(aabb);
}
void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask)
void b3GpuParallelLinearBvhBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
{
int newAabbIndex = m_aabbsCpu.size();

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvhBroadphase.h
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@@ -36,8 +36,8 @@ public:
b3GpuParallelLinearBvhBroadphase(cl_context context, cl_device_id device, cl_command_queue queue);
virtual ~b3GpuParallelLinearBvhBroadphase() {}
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, short int collisionFilterGroup, short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
virtual void calculateOverlappingPairs(int maxPairs);
virtual void calculateOverlappingPairsHost(int maxPairs);

92
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp
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@@ -14,22 +14,53 @@ bool searchIncremental3dSapOnGpu = true;
#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
/*
b3OpenCLArray<int> m_pairCount;
b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()
{
return m_allAabbsGPU;
}
virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
{
return m_allAabbsCPU;
}
b3OpenCLArray<b3Vector3> m_sum;
b3OpenCLArray<b3Vector3> m_sum2;
b3OpenCLArray<b3Vector3> m_dst;
b3OpenCLArray<int> m_smallAabbsMappingGPU;
b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
b3OpenCLArray<int> m_largeAabbsMappingGPU;
b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
b3OpenCLArray<b3Int4> m_overlappingPairs;
//temporary gpu work memory
b3OpenCLArray<b3SortData> m_gpuSmallSortData;
b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs;
class b3PrefixScanFloat4CL* m_prefixScanFloat4;
*/
b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q , b3GpuSapKernelType kernelType)
:m_context(ctx),
m_device(device),
m_queue(q),
m_allAabbsGPU(ctx,q),
m_smallAabbsMappingGPU(ctx,q),
m_largeAabbsMappingGPU(ctx,q),
m_pairCount(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q),
m_sum(ctx,q),
m_sum2(ctx,q),
m_dst(ctx,q),
m_currentBuffer(-1),
m_objectMinMaxIndexGPUaxis0(ctx,q),
m_objectMinMaxIndexGPUaxis1(ctx,q),
m_objectMinMaxIndexGPUaxis2(ctx,q),
@@ -45,7 +76,18 @@ m_sortedAxisGPU2prev(ctx,q),
m_addedHostPairsGPU(ctx,q),
m_removedHostPairsGPU(ctx,q),
m_addedCountGPU(ctx,q),
m_removedCountGPU(ctx,q)
m_removedCountGPU(ctx,q),
m_currentBuffer(-1),
m_pairCount(ctx,q),
m_allAabbsGPU(ctx,q),
m_sum(ctx,q),
m_sum2(ctx,q),
m_dst(ctx,q),
m_smallAabbsMappingGPU(ctx,q),
m_largeAabbsMappingGPU(ctx,q),
m_overlappingPairs(ctx,q),
m_gpuSmallSortData(ctx,q),
m_gpuSmallSortedAabbs(ctx,q)
{
const char* sapSrc = sapCL;
@@ -191,7 +233,7 @@ void b3GpuSapBroadphase::init3dSap()
for (int axis=0;axis<3;axis++)
{
int totalNumAabbs = m_allAabbsCPU.size();
//int totalNumAabbs = m_allAabbsCPU.size();
int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
for (int i=0;i<numEndPoints;i++)
@@ -240,7 +282,7 @@ b3AlignedObjectArray<b3SapAabb> preAabbs;
void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
{
static int framepje = 0;
//static int framepje = 0;
//printf("framepje=%d\n",framepje++);
@@ -371,6 +413,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
}
#if 0
if (0)
{
for (int axis=0;axis<3;axis++)
@@ -378,14 +421,14 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
//printf("axis %d\n",axis);
for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++)
{
int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
//int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
//int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
//printf("[%d]=%d\n",i,value);
}
}
}
#endif
{
B3_PROFILE("assign m_objectMinMaxIndexCPU");
@@ -409,7 +452,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
}
#if 0
if (0)
{
printf("==========================\n");
@@ -440,6 +483,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
}
}
#endif
int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
@@ -654,7 +698,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
int otherIndex = otherIndex2/2;
if (otherIndex!=i)
{
bool otherIsMin = ((otherIndex2&1)==0);
//bool otherIsMin = ((otherIndex2&1)==0);
//if (otherIsMin)
{
//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
@@ -906,7 +950,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
for (int i=0;i<numSmallAabbs;i++)
{
b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
float reference = smallAabbi.m_max[axis];
//float reference = smallAabbi.m_max[axis];
for (int j=i+1;j<numSmallAabbs;j++)
{
@@ -941,7 +985,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
{
b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
float reference = smallAabbi.m_max[axis];
//float reference = smallAabbi.m_max[axis];
int numLargeAabbs = m_largeAabbsMappingCPU.size();
for (int j=0;j<numLargeAabbs;j++)
@@ -1022,7 +1066,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
{
bool syncOnHost = false;
//bool syncOnHost = false;
int numSmallAabbs = m_smallAabbsMappingCPU.size();
if (m_prefixScanFloat4 && numSmallAabbs)
@@ -1261,7 +1305,7 @@ void b3GpuSapBroadphase::writeAabbsToGpu()
}
void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
int index = userPtr;
b3SapAabb aabb;
@@ -1277,7 +1321,7 @@ void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vec
m_allAabbsCPU.push_back(aabb);
}
void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
int index = userPtr;
b3SapAabb aabb;

4
src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h
View File

@@ -133,8 +133,8 @@ public:
void init3dSap();
virtual void calculateOverlappingPairsHostIncremental3Sap();
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask);
//call writeAabbsToGpu after done making all changes (createProxy etc)
virtual void writeAabbsToGpu();