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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp')
-rw-r--r--thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp253
1 files changed, 103 insertions, 150 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
index 74d0c8056c..e714fadac3 100644
--- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp
@@ -5,12 +5,9 @@
#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"
@@ -21,31 +18,25 @@ cl_kernel kFindOverlappingPairs;
cl_kernel m_copyAabbsKernel;
cl_kernel m_sap2Kernel;
-
-
-
-
//int maxPairsPerBody = 64;
-int maxBodiesPerCell = 256;//??
+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),
+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_hashGpu(ctx, q),
-m_cellStartGpu(ctx,q),
-m_paramsGPU(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]);
+ 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;
@@ -58,92 +49,79 @@ m_paramsGPU(ctx,q)
m_paramsCPU.m_invCellSize[3] = 0.f;
m_paramsGPU.push_back(m_paramsCPU);
- cl_int errNum=0;
+ 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 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);
-
-
-
-
- }
+ cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, gridBroadphaseCL, &errNum, "", B3_GRID_BROADPHASE_PATH);
+ b3Assert(errNum == CL_SUCCESS);
- m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);
+ 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);
-
-
-
+ 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)
+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;
+ 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)
+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;
+ 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)
+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());
@@ -154,57 +132,50 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
*/
return;
}
-
-
-
-
int numSmallAabbs = m_smallAabbsMappingGPU.size();
- b3OpenCLArray<int> pairCount(m_context,m_queue);
+ b3OpenCLArray<int> pairCount(m_context, m_queue);
pairCount.push_back(0);
- m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody);
+ 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 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);
-
+ 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)
+
+ if (numPairs > maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
- numPairs =maxPairs;
+ numPairs = maxPairs;
}
}
}
-
-
-
if (numSmallAabbs)
{
B3_PROFILE("gridKernel");
m_hashGpu.resize(numSmallAabbs);
{
B3_PROFILE("kCalcHashAABB");
- b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
+ b3LauncherCL launch(m_queue, kCalcHashAABB, "kCalcHashAABB");
launch.setConst(numSmallAabbs);
launch.setBuffer(m_allAabbsGPU1.getBufferCL());
launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
@@ -214,117 +185,104 @@ void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
}
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];
+
+ 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");
+ 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");
+ 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");
+
+ 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)
+ if (numPairs > maxPairs)
{
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
- 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("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("pair %d = %d,%d\n", i, pairsCpu[i].x, pairsCpu[i].y);
}
printf("?!?\n");
}
-
}
-
-
}
-
-
-
-
//calculateOverlappingPairsHost(maxPairs);
}
-void b3GpuGridBroadphase::calculateOverlappingPairsHost(int 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 i = 0; i < m_allAabbsCPU1.size(); i++)
{
- for (int j=i+1;j<m_allAabbsCPU1.size();j++)
+ 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))
+ 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)
+ if (a <= b)
{
- pair.x = a;
- pair.y = b;//store the original index in the unsorted aabb array
- } else
+ 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
+ pair.y = a; //store the original index in the unsorted aabb array
}
-
- if (m_hostPairs.size()<maxPairs)
+
+ if (m_hostPairs.size() < maxPairs)
{
m_hostPairs.push_back(pair);
}
@@ -332,40 +290,36 @@ void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
}
}
-
m_gpuPairs.copyFromHost(m_hostPairs);
-
-
}
- //call writeAabbsToGpu after done making all changes (createProxy etc)
+//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()
+cl_mem b3GpuGridBroadphase::getAabbBufferWS()
{
return this->m_allAabbsGPU1.getBufferCL();
}
-int b3GpuGridBroadphase::getNumOverlap()
+int b3GpuGridBroadphase::getNumOverlap()
{
return m_gpuPairs.size();
}
-cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
+cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
{
return m_gpuPairs.getBufferCL();
}
-b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
+b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
{
return m_allAabbsGPU1;
}
-b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
+b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
{
return m_allAabbsCPU1;
}
@@ -382,4 +336,3 @@ b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
{
return m_largeAabbsMappingGPU;
}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 21:28:56 +0000