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Accelerate GPU raycaster with PLBVH.

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This commit is contained in:
Jackson Lee
2014-02-23 20:40:58 -08:00
parent e955192971
commit e4fbd5332d
10 changed files with 732 additions and 33 deletions
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78
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
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@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h"
#include "Bullet3Common/shared/b3Int2.h"
#include "Bullet3Common/shared/b3Int4.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
@@ -59,6 +60,7 @@ class b3GpuParallelLinearBvh
cl_kernel m_determineInternalNodeAabbsKernel;
cl_kernel m_plbvhCalculateOverlappingPairsKernel;
cl_kernel m_plbvhRayTraverseKernel;
b3FillCL m_fill;
b3RadixSort32CL m_radixSorter;
@@ -79,6 +81,7 @@ class b3GpuParallelLinearBvh
b3OpenCLArray<int> m_leafNodeParentNodes;
b3OpenCLArray<b3SortData> m_mortonCodesAndAabbIndicies; //m_key = morton code, m_value == aabb index
b3OpenCLArray<b3SapAabb> m_mergedAabb;
b3OpenCLArray<b3SapAabb> m_leafNodeAabbs;
public:
b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) :
@@ -94,7 +97,8 @@ public:
m_internalNodeParentNodes(context, queue),
m_leafNodeParentNodes(context, queue),
m_mortonCodesAndAabbIndicies(context, queue),
m_mergedAabb(context, queue)
m_mergedAabb(context, queue),
m_leafNodeAabbs(context, queue)
{
const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
@@ -115,6 +119,8 @@ public:
m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_plbvhCalculateOverlappingPairsKernel);
m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_plbvhRayTraverseKernel);
}
virtual ~b3GpuParallelLinearBvh()
@@ -125,6 +131,7 @@ public:
clReleaseKernel(m_determineInternalNodeAabbsKernel);
clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
clReleaseKernel(m_plbvhRayTraverseKernel);
clReleaseProgram(m_parallelLinearBvhProgram);
}
@@ -148,8 +155,12 @@ public:
m_leafNodeParentNodes.resize(numLeaves);
m_mortonCodesAndAabbIndicies.resize(numLeaves);
m_mergedAabb.resize(numLeaves);
m_leafNodeAabbs.resize(numLeaves);
}
//
m_leafNodeAabbs.copyFromOpenCLArray(worldSpaceAabbs);
//Determine number of levels in the binary tree( numLevels = ceil( log2(numLeaves) ) )
//The number of levels is equivalent to the number of bits needed to uniquely identify each node(including both internal and leaf nodes)
int numLevels = 0;
@@ -168,7 +179,7 @@ public:
if(0) printf("numLeaves, numLevels, mostSignificantBit: %d, %d, %d \n", numLeaves, numLevels, mostSignificantBit);
}
//Determine number of nodes per level, use prefix sum to get offsets of each level, and send to GPU
//Determine number of internal nodes per level, use prefix sum to get offsets of each level, and send to GPU
{
B3_PROFILE("Determine number of nodes per level");
@@ -329,7 +340,7 @@ public:
}
//For each internal node, check children to get its AABB; start from the
//last level and move towards the root
//last level, which contains the leaves, and move towards the root
{
B3_PROFILE("Set AABBs");
@@ -416,10 +427,12 @@ public:
}
}
//Max number of pairs is out_overlappingPairs.size()
//If the number of overlapping pairs is < out_overlappingPairs.size(), the array is resized
void calculateOverlappingPairs(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs,
b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs)
///b3GpuParallelLinearBvh::build() must be called before this function. calculateOverlappingPairs() uses
///the worldSpaceAabbs parameter of b3GpuParallelLinearBvh::build() as the query AABBs.
///@param out_numPairs If number of pairs exceeds the max number of pairs, this is clamped to the max number.
///@param out_overlappingPairs The size() of this array is used to determine the max number of pairs.
///If the number of overlapping pairs is < out_overlappingPairs.size(), out_overlappingPairs is resized.
void calculateOverlappingPairs(b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs)
{
b3Assert( out_numPairs.size() == 1 );
@@ -431,11 +444,11 @@ public:
{
B3_PROFILE("PLBVH calculateOverlappingPairs");
int numQueryAabbs = worldSpaceAabbs.size();
int numQueryAabbs = m_leafNodeAabbs.size();
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( worldSpaceAabbs.getBufferCL() ),
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
@@ -468,6 +481,53 @@ public:
out_overlappingPairs.resize(numPairs);
}
///@param out_numRigidRayPairs Array of length 1; contains the number of detected ray-rigid AABB intersections;
///this value may be greater than out_rayRigidPairs.size() if out_rayRigidPairs is not large enough.
///@param out_rayRigidPairs Contains an array of rays intersecting rigid AABBs; x == ray index, y == rigid body index.
///If the size of this array is insufficient to hold all ray-rigid AABB intersections, additional intersections are discarded.
void testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays,
b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs)
{
B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()");
int numRays = rays.size();
int maxRayRigidPairs = out_rayRigidPairs.size();
int reset = 0;
out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_internalNodeLeafIndexRanges.getBufferCL() ),
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
b3BufferInfoCL( rays.getBufferCL() ),
b3BufferInfoCL( out_numRayRigidPairs.getBufferCL() ),
b3BufferInfoCL( out_rayRigidPairs.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(maxRayRigidPairs);
launcher.setConst(numRays);
launcher.launch1D(numRays);
clFinish(m_queue);
//
int numRayRigidPairs = -1;
out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1);
if(numRayRigidPairs > maxRayRigidPairs)
b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs);
}
};
#endif