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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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100
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl
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@@ -337,3 +337,103 @@ __kernel void rayCastKernel(
}
}
__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs,
__global int* out_firstRayRigidPairIndexPerRay,
__global int* out_numRayRigidPairsPerRay,
int numRayRigidPairs)
{
int rayRigidPairIndex = get_global_id(0);
if (rayRigidPairIndex >= numRayRigidPairs) return;
int rayIndex = rayRigidPairs[rayRigidPairIndex].x;
atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);
atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);
}
__kernel void rayCastPairsKernel(const __global b3RayInfo* rays,
__global b3RayHit* hitResults,
__global int* firstRayRigidPairIndexPerRay,
__global int* numRayRigidPairsPerRay,
__global Body* bodies,
__global Collidable* collidables,
__global const b3GpuFace* faces,
__global const ConvexPolyhedronCL* convexShapes,
__global int2* rayRigidPairs,
int numRays)
{
int i = get_global_id(0);
if (i >= numRays) return;
float4 rayFrom = rays[i].m_from;
float4 rayTo = rays[i].m_to;
hitResults[i].m_hitFraction = 1.f;
float hitFraction = 1.f;
float4 hitPoint;
float4 hitNormal;
int hitBodyIndex = -1;
//
for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)
{
int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];
int b = rayRigidPairs[rayRigidPairIndex].y;
if (hitResults[i].m_hitResult2 == b) continue;
Body body = bodies[b];
Collidable rigidCollidable = collidables[body.m_collidableIdx];
float4 pos = body.m_pos;
float4 orn = body.m_quat;
if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)
{
float4 invPos = (float4)(0,0,0,0);
float4 invOrn = (float4)(0,0,0,0);
float4 rayFromLocal = (float4)(0,0,0,0);
float4 rayToLocal = (float4)(0,0,0,0);
invOrn = qtInvert(orn);
invPos = qtRotate(invOrn, -pos);
rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;
rayToLocal = qtRotate( invOrn, rayTo) + invPos;
rayFromLocal.w = 0.f;
rayToLocal.w = 0.f;
int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;
int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;
if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);
}
}
if (rigidCollidable.m_shapeType == SHAPE_SPHERE)
{
float radius = rigidCollidable.m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))
{
hitBodyIndex = b;
hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);
hitNormal = (float4) (hitPoint - bodies[b].m_pos);
}
}
}
if (hitBodyIndex >= 0)
{
hitResults[i].m_hitFraction = hitFraction;
hitResults[i].m_hitPoint = hitPoint;
hitResults[i].m_hitNormal = normalize(hitNormal);
hitResults[i].m_hitResult0 = hitBodyIndex;
}
}

97
src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h
View File

@@ -281,4 +281,101 @@ static const char* rayCastKernelCL= \
" hitResults[i].m_hitResult0 = hitBodyIndex;\n"
" }\n"
"}\n"
"__kernel void findRayRigidPairIndexRanges(__global int2* rayRigidPairs, \n"
" __global int* out_firstRayRigidPairIndexPerRay,\n"
" __global int* out_numRayRigidPairsPerRay,\n"
" int numRayRigidPairs)\n"
"{\n"
" int rayRigidPairIndex = get_global_id(0);\n"
" if (rayRigidPairIndex >= numRayRigidPairs) return;\n"
" \n"
" int rayIndex = rayRigidPairs[rayRigidPairIndex].x;\n"
" \n"
" atomic_min(&out_firstRayRigidPairIndexPerRay[rayIndex], rayRigidPairIndex);\n"
" atomic_inc(&out_numRayRigidPairsPerRay[rayIndex]);\n"
"}\n"
"__kernel void rayCastPairsKernel(const __global b3RayInfo* rays, \n"
" __global b3RayHit* hitResults, \n"
" __global int* firstRayRigidPairIndexPerRay,\n"
" __global int* numRayRigidPairsPerRay,\n"
" \n"
" __global Body* bodies,\n"
" __global Collidable* collidables,\n"
" __global const b3GpuFace* faces,\n"
" __global const ConvexPolyhedronCL* convexShapes,\n"
" \n"
" __global int2* rayRigidPairs,\n"
" int numRays)\n"
"{\n"
" int i = get_global_id(0);\n"
" if (i >= numRays) return;\n"
" \n"
" float4 rayFrom = rays[i].m_from;\n"
" float4 rayTo = rays[i].m_to;\n"
" \n"
" hitResults[i].m_hitFraction = 1.f;\n"
" \n"
" float hitFraction = 1.f;\n"
" float4 hitPoint;\n"
" float4 hitNormal;\n"
" int hitBodyIndex = -1;\n"
" \n"
" //\n"
" for(int pair = 0; pair < numRayRigidPairsPerRay[i]; ++pair)\n"
" {\n"
" int rayRigidPairIndex = pair + firstRayRigidPairIndexPerRay[i];\n"
" int b = rayRigidPairs[rayRigidPairIndex].y;\n"
" \n"
" if (hitResults[i].m_hitResult2 == b) continue;\n"
" \n"
" Body body = bodies[b];\n"
" Collidable rigidCollidable = collidables[body.m_collidableIdx];\n"
" \n"
" float4 pos = body.m_pos;\n"
" float4 orn = body.m_quat;\n"
" \n"
" if (rigidCollidable.m_shapeType == SHAPE_CONVEX_HULL)\n"
" {\n"
" float4 invPos = (float4)(0,0,0,0);\n"
" float4 invOrn = (float4)(0,0,0,0);\n"
" float4 rayFromLocal = (float4)(0,0,0,0);\n"
" float4 rayToLocal = (float4)(0,0,0,0);\n"
" invOrn = qtInvert(orn);\n"
" invPos = qtRotate(invOrn, -pos);\n"
" rayFromLocal = qtRotate( invOrn, rayFrom ) + invPos;\n"
" rayToLocal = qtRotate( invOrn, rayTo) + invPos;\n"
" rayFromLocal.w = 0.f;\n"
" rayToLocal.w = 0.f;\n"
" int numFaces = convexShapes[rigidCollidable.m_shapeIndex].m_numFaces;\n"
" int faceOffset = convexShapes[rigidCollidable.m_shapeIndex].m_faceOffset;\n"
" \n"
" if (numFaces && rayConvex(rayFromLocal, rayToLocal, numFaces, faceOffset,faces, &hitFraction, &hitNormal))\n"
" {\n"
" hitBodyIndex = b;\n"
" hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
" }\n"
" }\n"
" \n"
" if (rigidCollidable.m_shapeType == SHAPE_SPHERE)\n"
" {\n"
" float radius = rigidCollidable.m_radius;\n"
" \n"
" if (sphere_intersect(pos, radius, rayFrom, rayTo, &hitFraction))\n"
" {\n"
" hitBodyIndex = b;\n"
" hitPoint = setInterpolate3(rayFrom, rayTo, hitFraction);\n"
" hitNormal = (float4) (hitPoint - bodies[b].m_pos);\n"
" }\n"
" }\n"
" }\n"
" \n"
" if (hitBodyIndex >= 0)\n"
" {\n"
" hitResults[i].m_hitFraction = hitFraction;\n"
" hitResults[i].m_hitPoint = hitPoint;\n"
" hitResults[i].m_hitNormal = normalize(hitNormal);\n"
" hitResults[i].m_hitResult0 = hitBodyIndex;\n"
" }\n"
" \n"
"}\n"
;