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Draft PLBVH construction using binary radix tree.

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This commit is contained in:
Jackson Lee
2014-03-03 14:33:53 -08:00
parent 4dcd52c090
commit f19f853685
4 changed files with 564 additions and 6 deletions
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158
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp
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@@ -31,6 +31,13 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
m_internalNodeChildNodes(context, queue),
m_internalNodeParentNodes(context, queue),
m_maxCommonPrefix(context, queue),
m_commonPrefixes(context, queue),
m_leftInternalNodePointers(context, queue),
m_rightInternalNodePointers(context, queue),
m_internalNodeLeftChildNodes(context, queue),
m_internalNodeRightChildNodes(context, queue),
m_leafNodeParentNodes(context, queue),
m_mortonCodesAndAabbIndicies(context, queue),
m_mergedAabb(context, queue),
@@ -39,6 +46,7 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
m_largeAabbs(context, queue)
{
m_rootNodeIndex.resize(1);
m_maxCommonPrefix.resize(1);
//
const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
@@ -61,6 +69,17 @@ b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id
m_determineInternalNodeAabbsKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "determineInternalNodeAabbs", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_determineInternalNodeAabbsKernel);
m_computePrefixAndInitPointersKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "computePrefixAndInitPointers", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_computePrefixAndInitPointersKernel);
m_correctDuplicatePrefixesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "correctDuplicatePrefixes", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_correctDuplicatePrefixesKernel);
m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_buildBinaryRadixTreeLeafNodesKernel);
m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_buildBinaryRadixTreeInternalNodesKernel);
m_convertChildNodeFormatKernel = b3OpenCLUtils::compileCLKernelFromString( context, device, kernelSource, "convertChildNodeFormat", &error, m_parallelLinearBvhProgram, additionalMacros );
b3Assert(m_convertChildNodeFormatKernel);
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 );
@@ -76,9 +95,16 @@ b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh()
clReleaseKernel(m_separateAabbsKernel);
clReleaseKernel(m_findAllNodesMergedAabbKernel);
clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel);
clReleaseKernel(m_constructBinaryTreeKernel);
clReleaseKernel(m_determineInternalNodeAabbsKernel);
clReleaseKernel(m_computePrefixAndInitPointersKernel);
clReleaseKernel(m_correctDuplicatePrefixesKernel);
clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel);
clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel);
clReleaseKernel(m_convertChildNodeFormatKernel);
clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel);
clReleaseKernel(m_plbvhRayTraverseKernel);
clReleaseKernel(m_plbvhLargeAabbAabbTestKernel);
@@ -159,6 +185,12 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
m_internalNodeChildNodes.resize(numInternalNodes);
m_internalNodeParentNodes.resize(numInternalNodes);
m_commonPrefixes.resize(numInternalNodes);
m_leftInternalNodePointers.resize(numInternalNodes);
m_rightInternalNodePointers.resize(numInternalNodes);
m_internalNodeLeftChildNodes.resize(numInternalNodes);
m_internalNodeRightChildNodes.resize(numInternalNodes);
m_leafNodeParentNodes.resize(numLeaves);
m_mortonCodesAndAabbIndicies.resize(numLeaves);
m_mergedAabb.resize(numLeaves);
@@ -166,7 +198,7 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
//Find the AABB of all input AABBs; this is used to define the size of
//Find the merged AABB of all small AABBs; this is used to define the size of
//each cell in the virtual grid(2^10 cells in each dimension).
{
B3_PROFILE("Find AABB of merged nodes");
@@ -196,7 +228,7 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
//then convert the discrete grid coordinates into a morton code
//For each element in m_mortonCodesAndAabbIndicies, set
// m_key == morton code (value to sort by)
// m_value = AABB index
// m_value == small AABB index
{
B3_PROFILE("Assign morton codes");
@@ -234,7 +266,8 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab
}
//
constructSimpleBinaryTree();
//constructSimpleBinaryTree();
constructRadixBinaryTree();
}
void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<int>& out_numPairs, b3OpenCLArray<b3Int4>& out_overlappingPairs)
@@ -393,6 +426,8 @@ void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayIn
void b3GpuParallelLinearBvh::constructSimpleBinaryTree()
{
B3_PROFILE("b3GpuParallelLinearBvh::constructSimpleBinaryTree()");
int numLeaves = m_leafNodeAabbs.size(); //Number of leaves in the BVH == Number of rigid bodies with small AABBs
int numInternalNodes = numLeaves - 1;
@@ -532,9 +567,124 @@ void b3GpuParallelLinearBvh::constructSimpleBinaryTree()
}
}
void b3GpuParallelLinearBvh::constructRadixBinaryTree()
{
B3_PROFILE("b3GpuParallelLinearBvh::constructRadixBinaryTree()");
int numLeaves = m_leafNodeAabbs.size();
int numInternalNodes = numLeaves - 1;
//For each internal node, compute common prefix and set pointers to left and right internal nodes
{
B3_PROFILE("m_computePrefixAndInitPointersKernel");
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
b3BufferInfoCL( m_leftInternalNodePointers.getBufferCL() ),
b3BufferInfoCL( m_rightInternalNodePointers.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_computePrefixAndInitPointersKernel, "m_computePrefixAndInitPointersKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numInternalNodes);
launcher.launch1D(numInternalNodes);
clFinish(m_queue);
}
//Increase the common prefixes so that there are no adjacent duplicates for each internal node
{
B3_PROFILE("m_correctDuplicatePrefixesKernel");
int reset = 0;
m_maxCommonPrefix.copyFromHostPointer(&reset, 1);
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
b3BufferInfoCL( m_maxCommonPrefix.getBufferCL() ),
};
b3LauncherCL launcher(m_queue, m_correctDuplicatePrefixesKernel, "m_correctDuplicatePrefixesKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numInternalNodes);
launcher.launch1D(numInternalNodes);
clFinish(m_queue);
}
//For each leaf node, find parent nodes and assign child node indices
{
B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel");
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeLeftChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeRightChildNodes.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numLeaves);
launcher.launch1D(numLeaves);
clFinish(m_queue);
}
//For each internal node, find parent nodes and assign child node indices
{
B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel");
int maxCommonPrefix = -1;
m_maxCommonPrefix.copyToHostPointer(&maxCommonPrefix, 1);
//-1 so that the root sets its AABB
for(int processedCommonPrefix = maxCommonPrefix; processedCommonPrefix >= -1; --processedCommonPrefix)
{
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_commonPrefixes.getBufferCL() ),
b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ),
b3BufferInfoCL( m_internalNodeLeftChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeRightChildNodes.getBufferCL() ),
b3BufferInfoCL( m_leftInternalNodePointers.getBufferCL() ),
b3BufferInfoCL( m_rightInternalNodePointers.getBufferCL() ),
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(processedCommonPrefix);
launcher.setConst(numInternalNodes);
launcher.launch1D(numInternalNodes);
}
clFinish(m_queue);
}
{
B3_PROFILE("m_convertChildNodeFormatKernel");
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_internalNodeLeftChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeRightChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() )
};
b3LauncherCL launcher(m_queue, m_convertChildNodeFormatKernel, "m_convertChildNodeFormatKernel");
launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
launcher.setConst(numInternalNodes);
launcher.launch1D(numInternalNodes);
clFinish(m_queue);
}
}