1 files changed, 0 insertions, 338 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
deleted file mode 100644
index e714fadac3..0000000000
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
+++ /dev/null
@@ -1,338 +0,0 @@
-
-#include "b3GpuGridBroadphase.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-#include "kernels/gridBroadphaseKernels.h"
-#include "kernels/sapKernels.h"
-//#include "kernels/gridBroadphase.cl"
-
-#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
-#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
-
-#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
-#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"
-
-cl_kernel kCalcHashAABB;
-cl_kernel kClearCellStart;
-cl_kernel kFindCellStart;
-cl_kernel kFindOverlappingPairs;
-cl_kernel m_copyAabbsKernel;
-cl_kernel m_sap2Kernel;
-
-//int maxPairsPerBody = 64;
-int maxBodiesPerCell = 256;  //??
-
-b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q)
-	: m_context(ctx),
-	  m_device(device),
-	  m_queue(q),
-	  m_allAabbsGPU1(ctx, q),
-	  m_smallAabbsMappingGPU(ctx, q),
-	  m_largeAabbsMappingGPU(ctx, q),
-	  m_gpuPairs(ctx, q),
-
-	  m_hashGpu(ctx, q),
-
-	  m_cellStartGpu(ctx, q),
-	  m_paramsGPU(ctx, q)
-{
-	b3Vector3 gridSize = b3MakeVector3(3, 3, 3);
-	b3Vector3 invGridSize = b3MakeVector3(1.f / gridSize[0], 1.f / gridSize[1], 1.f / gridSize[2]);
-
-	m_paramsCPU.m_gridSize[0] = 128;
-	m_paramsCPU.m_gridSize[1] = 128;
-	m_paramsCPU.m_gridSize[2] = 128;
-	m_paramsCPU.m_gridSize[3] = maxBodiesPerCell;
-	m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell);
-	m_paramsCPU.m_invCellSize[0] = invGridSize[0];
-	m_paramsCPU.m_invCellSize[1] = invGridSize[1];
-	m_paramsCPU.m_invCellSize[2] = invGridSize[2];
-	m_paramsCPU.m_invCellSize[3] = 0.f;
-	m_paramsGPU.push_back(m_paramsCPU);
-
-	cl_int errNum = 0;
-
-	{
-		const char* sapSrc = sapCL;
-		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-		m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
-		m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg);
-		b3Assert(errNum == CL_SUCCESS);
-	}
-
-	{
-		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, gridBroadphaseCL, &errNum, "", B3_GRID_BROADPHASE_PATH);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kCalcHashAABB", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kClearCellStart", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindCellStart", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-
-		kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindOverlappingPairs", &errNum, gridProg);
-		b3Assert(errNum == CL_SUCCESS);
-	}
-
-	m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
-}
-b3GpuGridBroadphase::~b3GpuGridBroadphase()
-{
-	clReleaseKernel(kCalcHashAABB);
-	clReleaseKernel(kClearCellStart);
-	clReleaseKernel(kFindCellStart);
-	clReleaseKernel(kFindOverlappingPairs);
-	clReleaseKernel(m_sap2Kernel);
-	clReleaseKernel(m_copyAabbsKernel);
-
-	delete m_sorter;
-}
-
-void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	b3SapAabb aabb;
-	aabb.m_minVec = aabbMin;
-	aabb.m_maxVec = aabbMax;
-	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();  //NOT userPtr;
-	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
-
-	m_allAabbsCPU1.push_back(aabb);
-}
-void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
-{
-	b3SapAabb aabb;
-	aabb.m_minVec = aabbMin;
-	aabb.m_maxVec = aabbMax;
-	aabb.m_minIndices[3] = userPtr;
-	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();  //NOT userPtr;
-	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
-
-	m_allAabbsCPU1.push_back(aabb);
-}
-
-void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
-{
-	B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
-
-	if (0)
-	{
-		calculateOverlappingPairsHost(maxPairs);
-		/*
-		b3AlignedObjectArray<b3Int4> cpuPairs;
-		m_gpuPairs.copyToHost(cpuPairs);
-		printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
-		for (int i=0;i<m_gpuPairs.size();i++)
-		{
-			printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
-		}
-		*/
-		return;
-	}
-
-	int numSmallAabbs = m_smallAabbsMappingGPU.size();
-
-	b3OpenCLArray<int> pairCount(m_context, m_queue);
-	pairCount.push_back(0);
-	m_gpuPairs.resize(maxPairs);  //numSmallAabbs*maxPairsPerBody);
-
-	{
-		int numLargeAabbs = m_largeAabbsMappingGPU.size();
-		if (numLargeAabbs && numSmallAabbs)
-		{
-			B3_PROFILE("sap2Kernel");
-			b3BufferInfoCL bInfo[] = {
-				b3BufferInfoCL(m_allAabbsGPU1.getBufferCL()),
-				b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
-				b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
-				b3BufferInfoCL(m_gpuPairs.getBufferCL()),
-				b3BufferInfoCL(pairCount.getBufferCL())};
-			b3LauncherCL launcher(m_queue, m_sap2Kernel, "m_sap2Kernel");
-			launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
-			launcher.setConst(numLargeAabbs);
-			launcher.setConst(numSmallAabbs);
-			launcher.setConst(0);  //axis is not used
-			launcher.setConst(maxPairs);
-			//@todo: use actual maximum work item sizes of the device instead of hardcoded values
-			launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
-
-			int numPairs = pairCount.at(0);
-
-			if (numPairs > maxPairs)
-			{
-				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs = maxPairs;
-			}
-		}
-	}
-
-	if (numSmallAabbs)
-	{
-		B3_PROFILE("gridKernel");
-		m_hashGpu.resize(numSmallAabbs);
-		{
-			B3_PROFILE("kCalcHashAABB");
-			b3LauncherCL launch(m_queue, kCalcHashAABB, "kCalcHashAABB");
-			launch.setConst(numSmallAabbs);
-			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
-			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
-			launch.setBuffer(m_hashGpu.getBufferCL());
-			launch.setBuffer(this->m_paramsGPU.getBufferCL());
-			launch.launch1D(numSmallAabbs);
-		}
-
-		m_sorter->execute(m_hashGpu);
-
-		int numCells = this->m_paramsCPU.m_gridSize[0] * this->m_paramsCPU.m_gridSize[1] * this->m_paramsCPU.m_gridSize[2];
-		m_cellStartGpu.resize(numCells);
-		//b3AlignedObjectArray<int >			cellStartCpu;
-
-		{
-			B3_PROFILE("kClearCellStart");
-			b3LauncherCL launch(m_queue, kClearCellStart, "kClearCellStart");
-			launch.setConst(numCells);
-			launch.setBuffer(m_cellStartGpu.getBufferCL());
-			launch.launch1D(numCells);
-			//m_cellStartGpu.copyToHost(cellStartCpu);
-			//printf("??\n");
-		}
-
-		{
-			B3_PROFILE("kFindCellStart");
-			b3LauncherCL launch(m_queue, kFindCellStart, "kFindCellStart");
-			launch.setConst(numSmallAabbs);
-			launch.setBuffer(m_hashGpu.getBufferCL());
-			launch.setBuffer(m_cellStartGpu.getBufferCL());
-			launch.launch1D(numSmallAabbs);
-			//m_cellStartGpu.copyToHost(cellStartCpu);
-			//printf("??\n");
-		}
-
-		{
-			B3_PROFILE("kFindOverlappingPairs");
-
-			b3LauncherCL launch(m_queue, kFindOverlappingPairs, "kFindOverlappingPairs");
-			launch.setConst(numSmallAabbs);
-			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
-			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
-			launch.setBuffer(m_hashGpu.getBufferCL());
-			launch.setBuffer(m_cellStartGpu.getBufferCL());
-
-			launch.setBuffer(m_paramsGPU.getBufferCL());
-			//launch.setBuffer(0);
-			launch.setBuffer(pairCount.getBufferCL());
-			launch.setBuffer(m_gpuPairs.getBufferCL());
-
-			launch.setConst(maxPairs);
-			launch.launch1D(numSmallAabbs);
-
-			int numPairs = pairCount.at(0);
-			if (numPairs > maxPairs)
-			{
-				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
-				numPairs = maxPairs;
-			}
-
-			m_gpuPairs.resize(numPairs);
-
-			if (0)
-			{
-				b3AlignedObjectArray<b3Int4> pairsCpu;
-				m_gpuPairs.copyToHost(pairsCpu);
-
-				int sz = m_gpuPairs.size();
-				printf("m_gpuPairs.size()=%d\n", sz);
-				for (int i = 0; i < m_gpuPairs.size(); i++)
-				{
-					printf("pair %d = %d,%d\n", i, pairsCpu[i].x, pairsCpu[i].y);
-				}
-
-				printf("?!?\n");
-			}
-		}
-	}
-
-	//calculateOverlappingPairsHost(maxPairs);
-}
-void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
-{
-	m_hostPairs.resize(0);
-	m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
-	for (int i = 0; i < m_allAabbsCPU1.size(); i++)
-	{
-		for (int j = i + 1; j < m_allAabbsCPU1.size(); j++)
-		{
-			if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
-									   m_allAabbsCPU1[j].m_minVec, m_allAabbsCPU1[j].m_maxVec))
-			{
-				b3Int4 pair;
-				int a = m_allAabbsCPU1[j].m_minIndices[3];
-				int b = m_allAabbsCPU1[i].m_minIndices[3];
-				if (a <= b)
-				{
-					pair.x = a;
-					pair.y = b;  //store the original index in the unsorted aabb array
-				}
-				else
-				{
-					pair.x = b;
-					pair.y = a;  //store the original index in the unsorted aabb array
-				}
-
-				if (m_hostPairs.size() < maxPairs)
-				{
-					m_hostPairs.push_back(pair);
-				}
-			}
-		}
-	}
-
-	m_gpuPairs.copyFromHost(m_hostPairs);
-}
-
-//call writeAabbsToGpu after done making all changes (createProxy etc)
-void b3GpuGridBroadphase::writeAabbsToGpu()
-{
-	m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
-	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
-	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
-}
-
-cl_mem b3GpuGridBroadphase::getAabbBufferWS()
-{
-	return this->m_allAabbsGPU1.getBufferCL();
-}
-int b3GpuGridBroadphase::getNumOverlap()
-{
-	return m_gpuPairs.size();
-}
-cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
-{
-	return m_gpuPairs.getBufferCL();
-}
-
-b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
-{
-	return m_allAabbsGPU1;
-}
-
-b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
-{
-	return m_allAabbsCPU1;
-}
-
-b3OpenCLArray<b3Int4>& b3GpuGridBroadphase::getOverlappingPairsGPU()
-{
-	return m_gpuPairs;
-}
-b3OpenCLArray<int>& b3GpuGridBroadphase::getSmallAabbIndicesGPU()
-{
-	return m_smallAabbsMappingGPU;
-}
-b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
-{
-	return m_largeAabbsMappingGPU;
-}