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Fix PLBVH with 0/1 nodes, fix optimized ray-AABB intersect.

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This commit is contained in:
Jackson Lee
2014-02-26 14:56:43 -08:00
parent c782f4976c
commit fe12ad9c9b
3 changed files with 69 additions and 178 deletions
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92
src/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h
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@@ -107,6 +107,9 @@ public:
m_mergedAabb(context, queue),
m_leafNodeAabbs(context, queue)
{
m_rootNodeIndex.resize(1);
//
const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl";
const char* kernelSource = parallelLinearBvhCL; //parallelLinearBvhCL.h
@@ -150,12 +153,18 @@ public:
int numLeaves = worldSpaceAabbs.size(); //Number of leaves in the BVH == Number of rigid body AABBs
int numInternalNodes = numLeaves - 1;
if(numLeaves < 2) return;
//
m_leafNodeAabbs.copyFromOpenCLArray(worldSpaceAabbs);
if(numLeaves < 2)
{
int rootNodeIndex = numLeaves - 1;
m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1);
return;
}
//
{
m_rootNodeIndex.resize(1);
m_internalNodeAabbs.resize(numInternalNodes);
m_internalNodeLeafIndexRanges.resize(numInternalNodes);
m_internalNodeChildNodes.resize(numInternalNodes);
@@ -164,12 +173,8 @@ 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;
@@ -184,8 +189,6 @@ public:
//If the number of nodes is not a power of 2(as in, can be expressed as 2^N where N is an integer), then there is 1 additional level
if( ~(1 << mostSignificantBit) & numLeaves ) numLevels++;
if(0) printf("numLeaves, numLevels, mostSignificantBit: %d, %d, %d \n", numLeaves, numLevels, mostSignificantBit);
}
//Determine number of internal nodes per level, use prefix sum to get offsets of each level, and send to GPU
@@ -230,18 +233,6 @@ public:
m_firstIndexOffsetPerLevelCpu[i] -= m_numNodesPerLevelCpu[i];
}
if(0)
{
int numInternalNodes = 0;
for(int i = 0; i < numLevels; ++i)
if(i < numLevels - 1) numInternalNodes += m_numNodesPerLevelCpu[i];
printf("numInternalNodes: %d\n", numInternalNodes);
for(int i = 0; i < numLevels; ++i)
printf("numNodes, offset[%d]: %d, %d \n", i, m_numNodesPerLevelCpu[i], m_firstIndexOffsetPerLevelCpu[i]);
printf("\n");
}
//Copy to GPU
m_numNodesPerLevelGpu.copyFromHost(m_numNodesPerLevelCpu, false);
m_firstIndexOffsetPerLevelGpu.copyFromHost(m_firstIndexOffsetPerLevelCpu, false);
@@ -338,17 +329,6 @@ public:
launcher.launch1D(numInternalNodes);
clFinish(m_queue);
if(0)
{
static b3AlignedObjectArray<b3Int2> internalNodeChildNodes;
m_internalNodeChildNodes.copyToHost(internalNodeChildNodes, false);
clFinish(m_queue);
for(int i = 0; i < numInternalNodes; ++i)
printf("ch[%d]: %d, %d\n", i, internalNodeChildNodes[i].x, internalNodeChildNodes[i].y);
printf("\n");
}
}
//For each internal node, check children to get its AABB; start from the
@@ -395,47 +375,6 @@ public:
launcher.launch1D(numLeaves);
}
clFinish(m_queue);
if(0)
{
static b3AlignedObjectArray<b3Int2> leafIndexRanges;
m_internalNodeLeafIndexRanges.copyToHost(leafIndexRanges, false);
clFinish(m_queue);
for(int i = 0; i < numInternalNodes; ++i)
//if(leafIndexRanges[i].x == -1 || leafIndexRanges[i].y == -1)
printf("leafIndexRanges[%d]: %d, %d\n", i, leafIndexRanges[i].x, leafIndexRanges[i].y);
printf("\n");
}
if(0)
{
static b3AlignedObjectArray<b3SapAabb> rigidAabbs;
worldSpaceAabbs.copyToHost(rigidAabbs, false);
clFinish(m_queue);
b3SapAabb actualRootAabb;
actualRootAabb.m_minVec = b3MakeVector3(B3_LARGE_FLOAT, B3_LARGE_FLOAT, B3_LARGE_FLOAT);
actualRootAabb.m_maxVec = b3MakeVector3(-B3_LARGE_FLOAT, -B3_LARGE_FLOAT, -B3_LARGE_FLOAT);
for(int i = 0; i < rigidAabbs.size(); ++i)
{
actualRootAabb.m_minVec.setMin(rigidAabbs[i].m_minVec);
actualRootAabb.m_maxVec.setMax(rigidAabbs[i].m_maxVec);
}
b3SapAabb rootAabb = m_internalNodeAabbs.at(0);
b3SapAabb mergedAABB = m_mergedAabb.at(0);
printf("mergedAABBMin: %f, %f, %f \n", mergedAABB.m_minVec.x, mergedAABB.m_minVec.y, mergedAABB.m_minVec.z);
printf("actualRootMin: %f, %f, %f \n", actualRootAabb.m_minVec.x, actualRootAabb.m_minVec.y, actualRootAabb.m_minVec.z);
printf("kernelRootMin: %f, %f, %f \n", rootAabb.m_minVec.x, rootAabb.m_minVec.y, rootAabb.m_minVec.z);
printf("mergedAABBMax: %f, %f, %f \n", mergedAABB.m_maxVec.x, mergedAABB.m_maxVec.y, mergedAABB.m_maxVec.z);
printf("actualRootMax: %f, %f, %f \n", actualRootAabb.m_maxVec.x, actualRootAabb.m_maxVec.y, actualRootAabb.m_maxVec.z);
printf("kernelRootMax: %f, %f, %f \n", rootAabb.m_maxVec.x, rootAabb.m_maxVec.y, rootAabb.m_maxVec.z);
printf("\n");
}
}
}
@@ -453,6 +392,8 @@ public:
int reset = 0;
out_numPairs.copyFromHostPointer(&reset, 1);
if( m_leafNodeAabbs.size() < 2 ) return;
{
B3_PROFILE("PLBVH calculateOverlappingPairs");
@@ -510,11 +451,12 @@ public:
int reset = 0;
out_numRayRigidPairs.copyFromHostPointer(&reset, 1);
if( m_leafNodeAabbs.size() < 1 ) return;
b3BufferInfoCL bufferInfo[] =
{
b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ),
b3BufferInfoCL( m_rootNodeIndex.getBufferCL() ),
b3BufferInfoCL( m_internalNodeChildNodes.getBufferCL() ),
b3BufferInfoCL( m_internalNodeAabbs.getBufferCL() ),