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bullet3/Extras/CUDA/btCudaBroadphase.cu

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/*
* Copyright 1993-2006 NVIDIA Corporation. All rights reserved.
*
* NOTICE TO USER:
*
* This source code is subject to NVIDIA ownership rights under U.S. and
* international Copyright laws.
*
* NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE
* CODE FOR ANY PURPOSE. IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR
* IMPLIED WARRANTY OF ANY KIND. NVIDIA DISCLAIMS ALL WARRANTIES WITH
* REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.
* IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL,
* OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
* OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE
* OR PERFORMANCE OF THIS SOURCE CODE.
*
* U.S. Government End Users. This source code is a "commercial item" as
* that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting of
* "commercial computer software" and "commercial computer software
* documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995)
* and is provided to the U.S. Government only as a commercial end item.
* Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through
* 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the
* source code with only those rights set forth herein.
*/
#include <cstdlib>
#include <cstdio>
#include <string.h>
#include "cutil_math.h"
#include "math_constants.h"
#if defined(__APPLE__) || defined(MACOSX)
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include <cuda_gl_interop.h>
#include "btCudaBroadphaseKernel.h"
//#include "radixsort.cu"
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
// K E R N E L F U N C T I O N S
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
#ifdef __DEVICE_EMULATION__
#define B_CUDA_USE_TEX 0
#else
#define B_CUDA_USE_TEX 1
#endif
__device__ inline btCuda3F1U tex_fetch3F1U(float4 a) { return *((btCuda3F1U*)(&a)); }
#if B_CUDA_USE_TEX
#define FETCH(t, i) tex_fetch3F1U(tex1Dfetch(t##Tex, i))
#else
#define FETCH(t, i) t[i]
#endif
texture<uint2, 1, cudaReadModeElementType> particleHashTex;
texture<uint, 1, cudaReadModeElementType> cellStartTex;
texture<float4, 1, cudaReadModeElementType> pAABBTex;
//----------------------------------------------------------------------------------------
__constant__ btCudaBroadphaseParams params;
//----------------------------------------------------------------------------------------
// calculate position in uniform grid
__device__ int3 btCuda_calcGridPos(float4 p)
{
int3 gridPos;
gridPos.x = floor((p.x - params.m_worldOriginX) / params.m_cellSizeX);
gridPos.y = floor((p.y - params.m_worldOriginY) / params.m_cellSizeY);
gridPos.z = floor((p.z - params.m_worldOriginZ) / params.m_cellSizeZ);
return gridPos;
}
//----------------------------------------------------------------------------------------
// calculate address in grid from position (clamping to edges)
__device__ uint btCuda_calcGridHash(int3 gridPos)
{
gridPos.x = max(0, min(gridPos.x, params.m_gridSizeX - 1));
gridPos.y = max(0, min(gridPos.y, params.m_gridSizeY - 1));
gridPos.z = max(0, min(gridPos.z, params.m_gridSizeZ - 1));
return __mul24(__mul24(gridPos.z, params.m_gridSizeY), params.m_gridSizeX) + __mul24(gridPos.y, params.m_gridSizeX) + gridPos.x;
}
//----------------------------------------------------------------------------------------
// calculate grid hash value for each body using its AABB
__global__ void calcHashAABBD(btCuda3F1U* pAABB, uint2* pHash, uint numBodies)
{
int index = __mul24(blockIdx.x, blockDim.x) + threadIdx.x;
if(index >= numBodies)
{
return;
}
btCuda3F1U bbMin = pAABB[index*2];
btCuda3F1U bbMax = pAABB[index*2 + 1];
float4 pos;
pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
// get address in grid
int3 gridPos = btCuda_calcGridPos(pos);
uint gridHash = btCuda_calcGridHash(gridPos);
// store grid hash and body index
pHash[index] = make_uint2(gridHash, index);
}
//----------------------------------------------------------------------------------------
__global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies)
{
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
if(index >= numBodies)
{
return;
}
uint2 sortedData = pHash[index];
// Load hash data into shared memory so that we can look
// at neighboring body's hash value without loading
// two hash values per thread
__shared__ uint sharedHash[257];
sharedHash[threadIdx.x+1] = sortedData.x;
if((index > 0) && (threadIdx.x == 0))
{
// first thread in block must load neighbor body hash
volatile uint2 prevData = pHash[index-1];
sharedHash[0] = prevData.x;
}
__syncthreads();
if((index == 0) || (sortedData.x != sharedHash[threadIdx.x]))
{
cellStart[sortedData.x] = index;
}
}
//----------------------------------------------------------------------------------------
__device__ uint cudaTestAABBOverlap(btCuda3F1U min0, btCuda3F1U max0, btCuda3F1U min1, btCuda3F1U max1)
{
return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) &&
(min0.fy <= max1.fy)&& (min1.fy <= max0.fy) &&
(min0.fz <= max1.fz)&& (min1.fz <= max0.fz);
}
//----------------------------------------------------------------------------------------
__device__ void findPairsInCell(int3 gridPos,
uint index,
uint2* pHash,
uint* pCellStart,
btCuda3F1U* pAABB,
uint* pPairBuff,
uint2* pPairBuffStartCurr,
uint numBodies)
{
if ( (gridPos.x < 0) || (gridPos.x > params.m_gridSizeX - 1)
|| (gridPos.y < 0) || (gridPos.y > params.m_gridSizeY - 1)
|| (gridPos.z < 0) || (gridPos.z > params.m_gridSizeZ - 1))
{
return;
}
uint gridHash = btCuda_calcGridHash(gridPos);
// get start of bucket for this cell
uint bucketStart = pCellStart[gridHash];
if (bucketStart == 0xffffffff)
{
return; // cell empty
}
// iterate over bodies in this cell
uint2 sortedData = pHash[index];
uint unsorted_indx = sortedData.y;
btCuda3F1U min0 = FETCH(pAABB, unsorted_indx*2);
btCuda3F1U max0 = FETCH(pAABB, unsorted_indx*2 + 1);
uint handleIndex = min0.uw;
uint2 start_curr = pPairBuffStartCurr[handleIndex];
uint start = start_curr.x;
uint curr = start_curr.y;
uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
uint curr_max = start_curr_next.x - start - 1;
uint bucketEnd = bucketStart + params.m_maxBodiesPerCell;
bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd;
for(uint index2 = bucketStart; index2 < bucketEnd; index2++)
{
uint2 cellData = pHash[index2];
if (cellData.x != gridHash)
{
break; // no longer in same bucket
}
uint unsorted_indx2 = cellData.y;
if (unsorted_indx2 < unsorted_indx) // check not colliding with self
{
btCuda3F1U min1 = FETCH(pAABB, unsorted_indx2*2);
btCuda3F1U max1 = FETCH(pAABB, unsorted_indx2*2 + 1);
if(cudaTestAABBOverlap(min0, max0, min1, max1))
{
uint handleIndex2 = min1.uw;
uint k;
for(k = 0; k < curr; k++)
{
uint old_pair = pPairBuff[start+k] & (~BT_CUDA_PAIR_ANY_FLG);
if(old_pair == handleIndex2)
{
pPairBuff[start+k] |= BT_CUDA_PAIR_FOUND_FLG;
break;
}
}
if(k == curr)
{
pPairBuff[start+curr] = handleIndex2 | BT_CUDA_PAIR_NEW_FLG;
if(curr >= curr_max)
{ // not a good solution, but let's avoid crash
break;
}
curr++;
}
}
}
}
pPairBuffStartCurr[handleIndex] = make_uint2(start, curr);
return;
}
//----------------------------------------------------------------------------------------
__global__ void
findOverlappingPairsD( btCuda3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
uint2* pPairBuffStartCurr, uint numBodies)
{
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
if(index >= numBodies)
{
return;
}
uint2 sortedData = pHash[index];
uint unsorted_indx = sortedData.y;
btCuda3F1U bbMin = FETCH(pAABB, unsorted_indx*2);
btCuda3F1U bbMax = FETCH(pAABB, unsorted_indx*2 + 1);
float4 pos;
pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
// get address in grid
int3 gridPos = btCuda_calcGridPos(pos);
// examine only neighbouring cells
for(int z=-1; z<=1; z++) {
for(int y=-1; y<=1; y++) {
for(int x=-1; x<=1; x++) {
findPairsInCell(gridPos + make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies);
}
}
}
}
//----------------------------------------------------------------------------------------
__global__ void
findPairsLargeD( btCuda3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
uint2* pPairBuffStartCurr, uint numBodies, uint numLarge)
{
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
if(index >= numBodies)
{
return;
}
uint2 sortedData = pHash[index];
uint unsorted_indx = sortedData.y;
btCuda3F1U min0 = FETCH(pAABB, unsorted_indx*2);
btCuda3F1U max0 = FETCH(pAABB, unsorted_indx*2 + 1);
uint handleIndex = min0.uw;
uint2 start_curr = pPairBuffStartCurr[handleIndex];
uint start = start_curr.x;
uint curr = start_curr.y;
uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
uint curr_max = start_curr_next.x - start - 1;
for(uint i = 0; i < numLarge; i++)
{
uint indx2 = numBodies + i;
btCuda3F1U min1 = FETCH(pAABB, indx2*2);
btCuda3F1U max1 = FETCH(pAABB, indx2*2 + 1);
if(cudaTestAABBOverlap(min0, max0, min1, max1))
{
uint k;
uint handleIndex2 = min1.uw;
for(k = 0; k < curr; k++)
{
uint old_pair = pPairBuff[start+k] & (~BT_CUDA_PAIR_ANY_FLG);
if(old_pair == handleIndex2)
{
pPairBuff[start+k] |= BT_CUDA_PAIR_FOUND_FLG;
break;
}
}
if(k == curr)
{
pPairBuff[start+curr] = handleIndex2 | BT_CUDA_PAIR_NEW_FLG;
if(curr >= curr_max)
{ // not a good solution, but let's avoid crash
break;
}
curr++;
}
}
}
pPairBuffStartCurr[handleIndex] = make_uint2(start, curr);
return;
}
//----------------------------------------------------------------------------------------
__global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, btCuda3F1U* pAABB, uint numBodies)
{
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
if(index >= numBodies)
{
return;
}
btCuda3F1U bbMin = pAABB[index * 2];
uint handleIndex = bbMin.uw;
uint2 start_curr = pPairBuffStartCurr[handleIndex];
uint start = start_curr.x;
uint curr = start_curr.y;
uint *pInp = pPairBuff + start;
uint num_changes = 0;
for(uint k = 0; k < curr; k++, pInp++)
{
if(!((*pInp) & BT_CUDA_PAIR_FOUND_FLG))
{
num_changes++;
}
}
pPairScan[index+1] = num_changes;
}
//----------------------------------------------------------------------------------------
__global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, uint* pPairOut, btCuda3F1U* pAABB, uint numBodies)
{
int index = __mul24(blockIdx.x,blockDim.x) + threadIdx.x;
if(index >= numBodies)
{
return;
}
btCuda3F1U bbMin = pAABB[index * 2];
uint handleIndex = bbMin.uw;
uint2 start_curr = pPairBuffStartCurr[handleIndex];
uint start = start_curr.x;
uint curr = start_curr.y;
uint* pInp = pPairBuff + start;
uint* pOut = pPairOut + pPairScan[index];
uint* pOut2 = pInp;
uint num = 0;
for(uint k = 0; k < curr; k++, pInp++)
{
if(!((*pInp) & BT_CUDA_PAIR_FOUND_FLG))
{
*pOut = *pInp;
pOut++;
}
if((*pInp) & BT_CUDA_PAIR_ANY_FLG)
{
*pOut2 = (*pInp) & (~BT_CUDA_PAIR_ANY_FLG);
pOut2++;
num++;
}
}
pPairBuffStartCurr[handleIndex] = make_uint2(start, num);
} // squeezeOverlappingPairBuffD()
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
// E N D O F K E R N E L F U N C T I O N S
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//! Check for CUDA error
# define CUT_CHECK_ERROR(errorMessage) do { \
cudaError_t err = cudaGetLastError(); \
if( cudaSuccess != err) { \
fprintf(stderr, "Cuda error: %s in file '%s' in line %i : %s.\n", \
errorMessage, __FILE__, __LINE__, cudaGetErrorString( err) );\
btCuda_exit(EXIT_FAILURE); \
} \
err = cudaThreadSynchronize(); \
if( cudaSuccess != err) { \
fprintf(stderr, "Cuda error: %s in file '%s' in line %i : %s.\n", \
errorMessage, __FILE__, __LINE__, cudaGetErrorString( err) );\
btCuda_exit(EXIT_FAILURE); \
} } while (0)
# define MY_CUDA_SAFE_CALL_NO_SYNC( call) do { \
cudaError err = call; \
if( cudaSuccess != err) { \
fprintf(stderr, "Cuda error in file '%s' in line %i : %s.\n", \
__FILE__, __LINE__, cudaGetErrorString( err) ); \
btCuda_exit(EXIT_FAILURE); \
} } while (0)
# define MY_CUDA_SAFE_CALL( call) do { \
MY_CUDA_SAFE_CALL_NO_SYNC(call); \
cudaError err = cudaThreadSynchronize(); \
if( cudaSuccess != err) { \
fprintf(stderr, "Cuda errorSync in file '%s' in line %i : %s.\n", \
__FILE__, __LINE__, cudaGetErrorString( err) ); \
btCuda_exit(EXIT_FAILURE); \
} } while (0)
extern "C"
{
void btCuda_exit(int val)
{
exit(val);
}
void btCuda_allocateArray(void** devPtr, unsigned int size)
{
MY_CUDA_SAFE_CALL(cudaMalloc(devPtr, size));
}
void btCuda_freeArray(void* devPtr)
{
MY_CUDA_SAFE_CALL(cudaFree(devPtr));
}
void btCuda_copyArrayFromDevice(void* host, const void* device, unsigned int size)
{
MY_CUDA_SAFE_CALL(cudaMemcpy(host, device, size, cudaMemcpyDeviceToHost));
}
void btCuda_copyArrayToDevice(void* device, const void* host, unsigned int size)
{
MY_CUDA_SAFE_CALL(cudaMemcpy((char*)device, host, size, cudaMemcpyHostToDevice));
}
void btCuda_setParameters(btCudaBroadphaseParams* hostParams)
{
// copy parameters to constant memory
MY_CUDA_SAFE_CALL(cudaMemcpyToSymbol(params, hostParams, sizeof(btCudaBroadphaseParams)));
}
//Round a / b to nearest higher integer value
int btCuda_iDivUp(int a, int b)
{
return (a % b != 0) ? (a / b + 1) : (a / b);
}
// compute grid and thread block size for a given number of elements
void btCuda_computeGridSize(int n, int blockSize, int &numBlocks, int &numThreads)
{
numThreads = min(blockSize, n);
numBlocks = btCuda_iDivUp(n, numThreads);
}
void btCuda_calcHashAABB(btCuda3F1U* pAABB, unsigned int* hash, unsigned int numBodies)
{
int numThreads, numBlocks;
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
// execute the kernel
calcHashAABBD<<< numBlocks, numThreads >>>(pAABB, (uint2*)hash, numBodies);
// check if kernel invocation generated an error
CUT_CHECK_ERROR("calcHashAABBD kernel execution failed");
}
void btCuda_findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells)
{
int numThreads, numBlocks;
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
MY_CUDA_SAFE_CALL(cudaMemset(cellStart, 0xffffffff, numCells*sizeof(uint)));
findCellStartD<<< numBlocks, numThreads >>>((uint2*)hash, (uint*)cellStart, numBodies);
CUT_CHECK_ERROR("Kernel execution failed: findCellStartD");
}
void btCuda_findOverlappingPairs( btCuda3F1U* pAABB, unsigned int* pHash,
unsigned int* pCellStart,
unsigned int* pPairBuff,
unsigned int* pPairBuffStartCurr,
unsigned int numBodies)
{
#if B_CUDA_USE_TEX
MY_CUDA_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(btCuda3F1U)));
#endif
int numThreads, numBlocks;
btCuda_computeGridSize(numBodies, 64, numBlocks, numThreads);
findOverlappingPairsD<<< numBlocks, numThreads >>>(
pAABB,
(uint2*)pHash,
(uint*)pCellStart,
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
numBodies
);
CUT_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD");
#if B_CUDA_USE_TEX
MY_CUDA_SAFE_CALL(cudaUnbindTexture(pAABBTex));
#endif
} // btCuda_findOverlappingPairs()
void btCuda_findPairsLarge( btCuda3F1U* pAABB, unsigned int* pHash,
unsigned int* pCellStart,
unsigned int* pPairBuff,
unsigned int* pPairBuffStartCurr,
unsigned int numBodies,
unsigned int numLarge)
{
#if B_CUDA_USE_TEX
MY_CUDA_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(btCuda3F1U)));
#endif
int numThreads, numBlocks;
btCuda_computeGridSize(numBodies, 64, numBlocks, numThreads);
findPairsLargeD<<< numBlocks, numThreads >>>(
pAABB,
(uint2*)pHash,
(uint*)pCellStart,
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
numBodies,
numLarge
);
CUT_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD");
#if B_CUDA_USE_TEX
MY_CUDA_SAFE_CALL(cudaUnbindTexture(pAABBTex));
#endif
} // btCuda_findPairsLarge()
void btCuda_computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr,
unsigned int* pPairScan, btCuda3F1U* pAABB, unsigned int numBodies)
{
int numThreads, numBlocks;
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
computePairCacheChangesD<<< numBlocks, numThreads >>>(
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
(uint*)pPairScan,
pAABB,
numBodies
);
CUT_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
} // btCuda_computePairCacheChanges()
void btCuda_squeezeOverlappingPairBuff( unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan,
unsigned int* pPairOut, btCuda3F1U* pAABB, unsigned int numBodies)
{
int numThreads, numBlocks;
btCuda_computeGridSize(numBodies, 256, numBlocks, numThreads);
squeezeOverlappingPairBuffD<<< numBlocks, numThreads >>>(
(uint*)pPairBuff,
(uint2*)pPairBuffStartCurr,
(uint*)pPairScan,
(uint*)pPairOut,
pAABB,
numBodies
);
CUT_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
} // btCuda_squeezeOverlappingPairBuff()
} // extern "C"
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