73b217fb07
For OSX: cd build ./premake_osx xcode4 for iOS: cd build ./ios_build.sh ./ios_run.sh Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection. As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
145 lines
4.4 KiB
C++
145 lines
4.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006 - 2009 Sony Computer Entertainment Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT3DGRIDBROADPHASEOCL_H
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#define BT3DGRIDBROADPHASEOCL_H
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#ifdef __APPLE__
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#ifdef USE_MINICL
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#include <MiniCL/cl.h>
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#else
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#include <MiniCL/cl.h>
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#endif
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//CL_PLATFORM_MINI_CL could be defined in build system
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#else
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//#include <GL/glew.h>
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// standard utility and system includes
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#ifdef USE_MINICL
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#include <MiniCL/cl.h>
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#else
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#include <CL/cl.h>
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#endif
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// Extra CL/GL include
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//#include <CL/cl_gl.h>
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#endif //__APPLE__
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namespace adl
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{
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struct Device;
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struct DeviceCL;
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};
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "btGpu3DGridBroadphaseSharedTypes.h"
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#include "btGpu3DGridBroadphase.h"
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#define GRID3DOCL_CHECKERROR(a, b) if((a)!=(b)) { printf("3D GRID OCL Error : %d\n", (a)); btAssert((a) == (b)); }
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enum
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{
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GRID3DOCL_KERNEL_CALC_HASH_AABB = 0,
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GRID3DOCL_KERNEL_CLEAR_CELL_START,
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GRID3DOCL_KERNEL_FIND_CELL_START,
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GRID3DOCL_KERNEL_FIND_OVERLAPPING_PAIRS,
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GRID3DOCL_KERNEL_FIND_PAIRS_LARGE,
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GRID3DOCL_KERNEL_COMPUTE_CACHE_CHANGES,
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GRID3DOCL_KERNEL_SQUEEZE_PAIR_BUFF,
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GRID3DOCL_KERNEL_TOTAL
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};
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struct bt3dGridOCLKernelInfo
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{
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int m_Id;
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cl_kernel m_kernel;
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char* m_name;
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int m_workgroupSize;
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};
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///The bt3dGridBroadphaseOCL uses OpenCL-capable GPU to compute overlapping pairs
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class bt3dGridBroadphaseOCL : public btGpu3DGridBroadphase
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{
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protected:
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int m_hashSize;
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cl_context m_cxMainContext;
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cl_device_id m_cdDevice;
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cl_command_queue m_cqCommandQue;
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cl_program m_cpProgram;
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bt3dGridOCLKernelInfo m_kernels[GRID3DOCL_KERNEL_TOTAL];
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// data buffers
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cl_mem m_dBodiesHash;
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cl_mem m_dCellStart;
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cl_mem m_dPairBuff;
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cl_mem m_dPairBuffStartCurr;
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public:
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cl_mem m_dAABB;
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protected:
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cl_mem m_dPairScanChanged;
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cl_mem m_dPairsChanged;
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cl_mem m_dBpParams;
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adl::Device* m_deviceHost;
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adl::DeviceCL* m_deviceCL;
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bool m_ownsDevice;
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public:
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unsigned int m_numPrefixSum;
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bt3dGridBroadphaseOCL( btOverlappingPairCache* overlappingPairCache,
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const btVector3& cellSize,
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int gridSizeX, int gridSizeY, int gridSizeZ,
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int maxSmallProxies, int maxLargeProxies, int maxPairsPerSmallProxy,
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btScalar maxSmallProxySize,
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int maxSmallProxiesPerCell = 8,
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cl_context context = NULL,
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cl_device_id device = NULL,
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cl_command_queue queue = NULL,
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adl::DeviceCL* deviceCL = 0
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);
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virtual ~bt3dGridBroadphaseOCL();
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protected:
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void initCL(cl_context context, cl_device_id device, cl_command_queue queue);
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void initKernels();
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void allocateBuffers();
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void prefillBuffers();
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void initKernel(int kernelId, char* pName);
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void allocateArray(void** devPtr, unsigned int size);
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void freeArray(void* devPtr);
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void runKernelWithWorkgroupSize(int kernelId, int globalSize);
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void setKernelArg(int kernelId, int argNum, int argSize, void* argPtr);
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void copyArrayToDevice(cl_mem device, const void* host, unsigned int size, int devOffs = 0, int hostOffs = 0);
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void copyArrayFromDevice(void* host, const cl_mem device, unsigned int size, int hostOffs = 0, int devOffs = 0);
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// overrides
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virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
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virtual void prepareAABB();
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virtual void calcHashAABB();
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virtual void sortHash();
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virtual void findCellStart();
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virtual void findOverlappingPairs();
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virtual void findPairsLarge();
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virtual void computePairCacheChanges();
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virtual void scanOverlappingPairBuff(bool copyToCpu=true);
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virtual void squeezeOverlappingPairBuff();
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virtual void resetPool(btDispatcher* dispatcher);
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};
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#endif //BT3DGRIDBROADPHASEOCL_H
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