566 lines
15 KiB
C++
566 lines
15 KiB
C++
#include "PairBench.h"
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#include "OpenGLWindow/ShapeData.h"
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#include "OpenGLWindow/GLInstancingRenderer.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "OpenGLWindow/b3gWindowInterface.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h"
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#include "../GpuDemoInternalData.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "OpenGLWindow/OpenGLInclude.h"
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#include "OpenGLWindow/GLInstanceRendererInternalData.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "../../../btgui/Timing/b3Quickprof.h"
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#include "../gwenUserInterface.h"
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#include <string.h>
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static b3KeyboardCallback oldCallback = 0;
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char* gPairBenchFileName = 0;
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float maxExtents = -1e30f;
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int largeCount = 0;
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extern bool gReset;
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#define MSTRINGIFY(A) #A
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static const char* s_pairBenchKernelString = MSTRINGIFY(
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__kernel void moveObjectsKernel(__global float4* posOrnColors, int numObjects)
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{
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int iGID = get_global_id(0);
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if (iGID>=numObjects)
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return;
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__global float4* positions = &posOrnColors[0];
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if (iGID<0.5*numObjects)
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{
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positions[iGID].y +=0.01f;
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}
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__global float4* colors = &posOrnColors[numObjects*2];
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colors[iGID] = (float4)(0,0,1,1);
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}
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__kernel void colorPairsKernel(__global float4* posOrnColors, int numObjects, __global const int4* pairs, int numPairs)
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{
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int iPairId = get_global_id(0);
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if (iPairId>=numPairs)
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return;
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__global float4* colors = &posOrnColors[numObjects*2];
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int iObjectA = pairs[iPairId].x;
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int iObjectB = pairs[iPairId].y;
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colors[iObjectA] = (float4)(1,0,0,1);
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colors[iObjectB] = (float4)(1,0,0,1);
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}
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__kernel void
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sineWaveKernel( __global float4* posOrnColors, __global float* pBodyTimes,const int numNodes)
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{
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int nodeID = get_global_id(0);
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float timeStepPos = 0.000166666;
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float mAmplitude = 51.f;
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if( nodeID < numNodes )
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{
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pBodyTimes[nodeID] += timeStepPos;
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float4 position = posOrnColors[nodeID];
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position.x = native_cos(pBodyTimes[nodeID]*2.17f)*mAmplitude + native_sin(pBodyTimes[nodeID])*mAmplitude*0.5f;
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position.y = native_cos(pBodyTimes[nodeID]*1.38f)*mAmplitude + native_sin(pBodyTimes[nodeID]*mAmplitude);
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position.z = native_cos(pBodyTimes[nodeID]*2.17f)*mAmplitude + native_sin(pBodyTimes[nodeID]*0.777f)*mAmplitude;
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posOrnColors[nodeID] = position;
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__global float4* colors = &posOrnColors[numNodes*2];
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colors[nodeID] = (float4)(0,0,1,1);
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}
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}
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typedef struct
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{
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float fx;
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float fy;
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float fz;
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int uw;
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} b3AABBCL;
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__kernel void updateAabbSimple( __global float4* posOrnColors, const int numNodes, __global b3AABBCL* pAABB)
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{
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int nodeId = get_global_id(0);
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if( nodeId < numNodes )
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{
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float4 position = posOrnColors[nodeId];
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float4 halfExtents = (float4)(1.01f,1.01f,1.01f,0.f);
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pAABB[nodeId*2].fx = position.x-halfExtents.x;
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pAABB[nodeId*2].fy = position.y-halfExtents.y;
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pAABB[nodeId*2].fz = position.z-halfExtents.z;
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pAABB[nodeId*2].uw = nodeId;
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pAABB[nodeId*2+1].fx = position.x+halfExtents.x;
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pAABB[nodeId*2+1].fy = position.y+halfExtents.y;
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pAABB[nodeId*2+1].fz = position.z+halfExtents.z;
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pAABB[nodeId*2+1].uw = nodeId;
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}
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}
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);
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struct PairBenchInternalData
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{
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b3GpuBroadphaseInterface* m_broadphaseGPU;
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cl_kernel m_moveObjectsKernel;
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cl_kernel m_sineWaveKernel;
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cl_kernel m_colorPairsKernel;
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cl_kernel m_updateAabbSimple;
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GwenUserInterface* m_gui;
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b3OpenCLArray<b3Vector4>* m_instancePosOrnColor;
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b3OpenCLArray<float>* m_bodyTimes;
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PairBenchInternalData()
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:m_broadphaseGPU(0),
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m_moveObjectsKernel(0),
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m_sineWaveKernel(0),
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m_colorPairsKernel(0),
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m_instancePosOrnColor(0),
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m_bodyTimes(0),
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m_updateAabbSimple(0)
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{
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}
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};
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PairBench::PairBench()
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:m_instancingRenderer(0),
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m_window(0)
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{
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m_data = new PairBenchInternalData;
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}
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PairBench::~PairBench()
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{
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delete m_data;
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}
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static void PairKeyboardCallback(int key, int state)
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{
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if (key=='R' && state)
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{
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gReset = true;
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}
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//b3DefaultKeyboardCallback(key,state);
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oldCallback(key,state);
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}
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static inline float parseFloat(const char*& token)
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{
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token += strspn(token, " \t");
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float f = (float)atof(token);
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token += strcspn(token, " \t\r");
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return f;
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}
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extern bool useShadowMap;
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void PairBench::initPhysics(const ConstructionInfo& ci)
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{
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useShadowMap = false;
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m_data->m_gui = ci.m_gui;
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initCL(ci.preferredOpenCLDeviceIndex,ci.preferredOpenCLPlatformIndex);
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if (m_clData->m_clContext)
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{
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m_data->m_broadphaseGPU = new b3GpuSapBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
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//m_data->m_broadphaseGPU = new b3GpuGridBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
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cl_program pairBenchProg=0;
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int errNum=0;
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m_data->m_moveObjectsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_pairBenchKernelString,"moveObjectsKernel",&errNum,pairBenchProg);
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m_data->m_sineWaveKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_pairBenchKernelString,"sineWaveKernel",&errNum,pairBenchProg);
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m_data->m_colorPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_pairBenchKernelString,"colorPairsKernel",&errNum,pairBenchProg);
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m_data->m_updateAabbSimple = b3OpenCLUtils::compileCLKernelFromString(m_clData->m_clContext,m_clData->m_clDevice,s_pairBenchKernelString,"updateAabbSimple",&errNum,pairBenchProg);
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}
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if (ci.m_window)
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{
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m_window = ci.m_window;
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oldCallback = ci.m_window->getKeyboardCallback();
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ci.m_window->setKeyboardCallback(PairKeyboardCallback);
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}
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m_instancingRenderer = ci.m_instancingRenderer;
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#ifndef B3_NO_PROFILE
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b3ProfileManager::CleanupMemory();
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#endif //B3_NO_PROFILE
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_vertices)/sizeof(int);
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int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=10;
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if (gPairBenchFileName)
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{
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//char* fileName = "32006GPUAABBs.txt";
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char relativeFileName[1024];
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const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
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int prefixIndex=-1;
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{
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int numPrefixes = sizeof(prefix)/sizeof(char*);
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for (int i=0;i<numPrefixes;i++)
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{
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FILE* f = 0;
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sprintf(relativeFileName,"%s%s",prefix[i],gPairBenchFileName);
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f = fopen(relativeFileName,"rb");
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if (f)
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{
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fseek( f, 0L, SEEK_END );
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int size = ftell( f);
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rewind( f);
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char* buf = (char*)malloc(size);
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int actualReadBytes =0;
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while (actualReadBytes<size)
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{ int left = size-actualReadBytes;
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int chunk = 8192;
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int numPlannedRead= left < chunk? left : chunk;
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actualReadBytes += fread(&buf[actualReadBytes],1,numPlannedRead,f);
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}
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fclose(f);
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char pattern[1024];
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pattern[0] = 0x0a;
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pattern[1] = 0;
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size_t const patlen = strlen(pattern);
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size_t patcnt = 0;
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char * oriptr;
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char * patloc;
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for (oriptr = buf; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
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{
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if (patloc)
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{
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*patloc=0;
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const char* token = oriptr;
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b3Vector3 aabbMin;
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b3Vector3 aabbMax;
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aabbMin.x = parseFloat(token);
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aabbMin.y = parseFloat(token);
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aabbMin.z = parseFloat(token);
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aabbMin.w = 0.f;
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aabbMax.x = parseFloat(token);
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aabbMax.y = parseFloat(token);
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aabbMax.z = parseFloat(token);
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aabbMax.w = 0.f;
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aabbMin*=0.1;
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aabbMax*=0.1;
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b3Vector3 extents = aabbMax-aabbMin;
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//printf("%s\n", oriptr);
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b3Vector3 position=0.5*(aabbMax+aabbMin);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 scaling = b3MakeVector4(0.5*extents.x,0.5*extents.y,0.5*extents.z,1);//b3MakeVector4(1,1,1,1);
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float l = extents.length();
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if (l>500)
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{
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b3Vector4 color=b3MakeVector4(0,1,0,0.1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
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} else
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{
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b3Vector4 color=b3MakeVector4(1,0,0,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
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index++;
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}
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patcnt++;
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}
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}
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prefixIndex = i;
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break;
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}
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}
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if (prefixIndex<0)
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{
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b3Printf("Cannot find %s\n",gPairBenchFileName);
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}
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}
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}
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else
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{
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for (int i=0;i<ci.arraySizeX;i++)
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{
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for (int j=0;j<ci.arraySizeY;j++)
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{
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for (int k=0;k<ci.arraySizeZ;k++)
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{
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b3Vector3 position=b3MakeVector3(k*3,i*3,j*3);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color=b3MakeVector4(0,1,0,1);
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b3Vector4 scaling=b3MakeVector4(1,1,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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b3Vector3 aabbHalfExtents=b3MakeVector3(1,1,1);
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b3Vector3 aabbMin = position-aabbHalfExtents;
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b3Vector3 aabbMax = position+aabbHalfExtents;
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m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
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index++;
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}
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}
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}
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}
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float camPos[4]={15.5,12.5,15.5,0};
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m_instancingRenderer->setCameraTargetPosition(camPos);
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if (gPairBenchFileName)
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{
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m_instancingRenderer->setCameraDistance(830);
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} else
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{
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m_instancingRenderer->setCameraDistance(130);
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}
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m_instancingRenderer->writeTransforms();
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m_data->m_broadphaseGPU->writeAabbsToGpu();
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}
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void PairBench::exitPhysics()
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{
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delete m_data->m_broadphaseGPU;
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delete m_data->m_instancePosOrnColor;
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delete m_data->m_bodyTimes;
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m_data->m_broadphaseGPU = 0;
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m_window->setKeyboardCallback(oldCallback);
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exitCL();
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}
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void PairBench::renderScene()
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{
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m_instancingRenderer->renderScene();
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}
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void PairBench::clientMoveAndDisplay()
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{
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//color all objects blue
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bool animate=true;
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int numObjects= m_instancingRenderer->getInternalData()->m_totalNumInstances;
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b3Vector4* positions = 0;
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if (numObjects)
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{
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GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
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int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
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glBindBuffer(GL_ARRAY_BUFFER, vbo);
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cl_bool blocking= CL_TRUE;
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char* hostPtr= (char*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
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GLint err = glGetError();
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assert(err==GL_NO_ERROR);
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positions = (b3Vector4*)hostPtr;
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if (m_data->m_instancePosOrnColor && m_data->m_instancePosOrnColor->size() != 3*numObjects)
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{
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delete m_data->m_instancePosOrnColor;
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m_data->m_instancePosOrnColor=0;
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}
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if (!m_data->m_instancePosOrnColor)
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{
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m_data->m_instancePosOrnColor = new b3OpenCLArray<b3Vector4>(m_clData->m_clContext,m_clData->m_clQueue);
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m_data->m_instancePosOrnColor->resize(3*numObjects);
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m_data->m_instancePosOrnColor->copyFromHostPointer(positions,3*numObjects,0);
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m_data->m_bodyTimes = new b3OpenCLArray<float>(m_clData->m_clContext,m_clData->m_clQueue);
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m_data->m_bodyTimes ->resize(numObjects);
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b3AlignedObjectArray<float> tmp;
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tmp.resize(numObjects);
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for (int i=0;i<numObjects;i++)
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{
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tmp[i] = float(i)*(1024.f/numObjects);
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}
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m_data->m_bodyTimes->copyFromHost(tmp);
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}
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if (!gPairBenchFileName)
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{
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if (1)
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{
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_sineWaveKernel);
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setBuffer(m_data->m_bodyTimes->getBufferCL() );
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launcher.setConst( numObjects);
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launcher.launch1D( numObjects);
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clFinish(m_clData->m_clQueue);
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}
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else
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{
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_moveObjectsKernel);
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setConst( numObjects);
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launcher.launch1D( numObjects);
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clFinish(m_clData->m_clQueue);
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}
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}
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}
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bool updateOnGpu=false;//true;
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if (updateOnGpu)
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{
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B3_PROFILE("updateOnGpu");
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b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_updateAabbSimple);
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launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
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launcher.setConst( numObjects);
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launcher.setBuffer(m_data->m_broadphaseGPU->getAabbBufferWS());
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launcher.launch1D( numObjects);
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clFinish(m_clData->m_clQueue);
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} else
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{
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B3_PROFILE("updateOnCpu");
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if (!gPairBenchFileName)
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{
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int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
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b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
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m_data->m_instancePosOrnColor->copyToHost(posOrnColorsCpu);
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for (int nodeId=0;nodeId<numObjects;nodeId++)
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{
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{
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b3Vector3 position = posOrnColorsCpu[nodeId];
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b3Vector3 halfExtents = b3MakeFloat4(1.01f,1.01f,1.01f,0.f);
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m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_minVec = position-halfExtents;
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m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_minIndices[3] = nodeId;
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m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_maxVec = position+halfExtents;
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m_data->m_broadphaseGPU->getAllAabbsCPU()[nodeId].m_signedMaxIndices[3]= nodeId;
|
|
}
|
|
}
|
|
m_data->m_broadphaseGPU->writeAabbsToGpu();
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
unsigned long dt = 0;
|
|
if (numObjects)
|
|
{
|
|
b3Clock cl;
|
|
dt = cl.getTimeMicroseconds();
|
|
B3_PROFILE("calculateOverlappingPairs");
|
|
int sz = sizeof(b3Int4)*64*numObjects;
|
|
|
|
m_data->m_broadphaseGPU->calculateOverlappingPairs(16*numObjects);
|
|
//int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
|
|
//printf("numPairs = %d\n", numPairs);
|
|
dt = cl.getTimeMicroseconds()-dt;
|
|
}
|
|
|
|
|
|
if (m_data->m_gui)
|
|
{
|
|
int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
|
|
int numOverlap = m_data->m_broadphaseGPU->getNumOverlap();
|
|
|
|
float time = dt/1000.f;
|
|
//printf("time = %f\n", time);
|
|
|
|
char msg[1024];
|
|
sprintf(msg,"#objects = %d, #overlapping pairs = %d, time = %f ms", allAabbs,numOverlap,time );
|
|
//printf("msg=%s\n",msg);
|
|
m_data->m_gui->setStatusBarMessage(msg,true);
|
|
}
|
|
|
|
|
|
if (numObjects)
|
|
{
|
|
B3_PROFILE("animate");
|
|
GLint err = glGetError();
|
|
assert(err==GL_NO_ERROR);
|
|
//color overlapping objects in red
|
|
|
|
|
|
if (m_data->m_broadphaseGPU->getNumOverlap())
|
|
{
|
|
bool colorPairsOnHost = false;
|
|
if (colorPairsOnHost )
|
|
{
|
|
|
|
} else
|
|
{
|
|
int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
|
|
cl_mem pairBuf = m_data->m_broadphaseGPU->getOverlappingPairBuffer();
|
|
|
|
b3LauncherCL launcher(m_clData->m_clQueue, m_data->m_colorPairsKernel);
|
|
launcher.setBuffer(m_data->m_instancePosOrnColor->getBufferCL() );
|
|
launcher.setConst( numObjects);
|
|
launcher.setBuffer( pairBuf);
|
|
launcher.setConst( numPairs);
|
|
launcher.launch1D( numPairs);
|
|
clFinish(m_clData->m_clQueue);
|
|
}
|
|
}
|
|
|
|
if (numObjects)
|
|
{
|
|
m_data->m_instancePosOrnColor->copyToHostPointer(positions,3*numObjects,0);
|
|
}
|
|
|
|
glUnmapBuffer( GL_ARRAY_BUFFER);
|
|
err = glGetError();
|
|
assert(err==GL_NO_ERROR);
|
|
}
|
|
|
|
}
|