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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp | 557 |
1 files changed, 0 insertions, 557 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp deleted file mode 100644 index 616fc34f3a..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ /dev/null @@ -1,557 +0,0 @@ -/* -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Initial Author Jackson Lee, 2014 - -#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" - -#include "b3GpuParallelLinearBvh.h" - -b3GpuParallelLinearBvh::b3GpuParallelLinearBvh(cl_context context, cl_device_id device, cl_command_queue queue) : m_queue(queue), - m_radixSorter(context, device, queue), - - m_rootNodeIndex(context, queue), - m_maxDistanceFromRoot(context, queue), - m_temp(context, queue), - - m_internalNodeAabbs(context, queue), - m_internalNodeLeafIndexRanges(context, queue), - m_internalNodeChildNodes(context, queue), - m_internalNodeParentNodes(context, queue), - - m_commonPrefixes(context, queue), - m_commonPrefixLengths(context, queue), - m_distanceFromRoot(context, queue), - - m_leafNodeParentNodes(context, queue), - m_mortonCodesAndAabbIndicies(context, queue), - m_mergedAabb(context, queue), - m_leafNodeAabbs(context, queue), - - m_largeAabbs(context, queue) -{ - m_rootNodeIndex.resize(1); - m_maxDistanceFromRoot.resize(1); - m_temp.resize(1); - - // - const char CL_PROGRAM_PATH[] = "src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl"; - - const char* kernelSource = parallelLinearBvhCL; //parallelLinearBvhCL.h - cl_int error; - char* additionalMacros = 0; - m_parallelLinearBvhProgram = b3OpenCLUtils::compileCLProgramFromString(context, device, kernelSource, &error, additionalMacros, CL_PROGRAM_PATH); - b3Assert(m_parallelLinearBvhProgram); - - m_separateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "separateAabbs", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_separateAabbsKernel); - m_findAllNodesMergedAabbKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findAllNodesMergedAabb", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_findAllNodesMergedAabbKernel); - m_assignMortonCodesAndAabbIndiciesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "assignMortonCodesAndAabbIndicies", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_assignMortonCodesAndAabbIndiciesKernel); - - m_computeAdjacentPairCommonPrefixKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "computeAdjacentPairCommonPrefix", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_computeAdjacentPairCommonPrefixKernel); - m_buildBinaryRadixTreeLeafNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeLeafNodes", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_buildBinaryRadixTreeLeafNodesKernel); - m_buildBinaryRadixTreeInternalNodesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeInternalNodes", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_buildBinaryRadixTreeInternalNodesKernel); - m_findDistanceFromRootKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findDistanceFromRoot", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_findDistanceFromRootKernel); - m_buildBinaryRadixTreeAabbsRecursiveKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "buildBinaryRadixTreeAabbsRecursive", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_buildBinaryRadixTreeAabbsRecursiveKernel); - - m_findLeafIndexRangesKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "findLeafIndexRanges", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_findLeafIndexRangesKernel); - - m_plbvhCalculateOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhCalculateOverlappingPairs", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_plbvhCalculateOverlappingPairsKernel); - m_plbvhRayTraverseKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhRayTraverse", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_plbvhRayTraverseKernel); - m_plbvhLargeAabbAabbTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbAabbTest", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_plbvhLargeAabbAabbTestKernel); - m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros); - b3Assert(m_plbvhLargeAabbRayTestKernel); -} - -b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh() -{ - clReleaseKernel(m_separateAabbsKernel); - clReleaseKernel(m_findAllNodesMergedAabbKernel); - clReleaseKernel(m_assignMortonCodesAndAabbIndiciesKernel); - - clReleaseKernel(m_computeAdjacentPairCommonPrefixKernel); - clReleaseKernel(m_buildBinaryRadixTreeLeafNodesKernel); - clReleaseKernel(m_buildBinaryRadixTreeInternalNodesKernel); - clReleaseKernel(m_findDistanceFromRootKernel); - clReleaseKernel(m_buildBinaryRadixTreeAabbsRecursiveKernel); - - clReleaseKernel(m_findLeafIndexRangesKernel); - - clReleaseKernel(m_plbvhCalculateOverlappingPairsKernel); - clReleaseKernel(m_plbvhRayTraverseKernel); - clReleaseKernel(m_plbvhLargeAabbAabbTestKernel); - clReleaseKernel(m_plbvhLargeAabbRayTestKernel); - - clReleaseProgram(m_parallelLinearBvhProgram); -} - -void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAabbs, const b3OpenCLArray<int>& smallAabbIndices, - const b3OpenCLArray<int>& largeAabbIndices) -{ - B3_PROFILE("b3ParallelLinearBvh::build()"); - - int numLargeAabbs = largeAabbIndices.size(); - int numSmallAabbs = smallAabbIndices.size(); - - //Since all AABBs(both large and small) are input as a contiguous array, - //with 2 additional arrays used to indicate the indices of large and small AABBs, - //it is necessary to separate the AABBs so that the large AABBs will not degrade the quality of the BVH. - { - B3_PROFILE("Separate large and small AABBs"); - - m_largeAabbs.resize(numLargeAabbs); - m_leafNodeAabbs.resize(numSmallAabbs); - - //Write large AABBs into m_largeAabbs - { - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(worldSpaceAabbs.getBufferCL()), - b3BufferInfoCL(largeAabbIndices.getBufferCL()), - - b3BufferInfoCL(m_largeAabbs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numLargeAabbs); - - launcher.launch1D(numLargeAabbs); - } - - //Write small AABBs into m_leafNodeAabbs - { - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(worldSpaceAabbs.getBufferCL()), - b3BufferInfoCL(smallAabbIndices.getBufferCL()), - - b3BufferInfoCL(m_leafNodeAabbs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_separateAabbsKernel, "m_separateAabbsKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numSmallAabbs); - - launcher.launch1D(numSmallAabbs); - } - - clFinish(m_queue); - } - - // - int numLeaves = numSmallAabbs; //Number of leaves in the BVH == Number of rigid bodies with small AABBs - int numInternalNodes = numLeaves - 1; - - if (numLeaves < 2) - { - //Number of leaf nodes is checked in calculateOverlappingPairs() and testRaysAgainstBvhAabbs(), - //so it does not matter if numLeaves == 0 and rootNodeIndex == -1 - int rootNodeIndex = numLeaves - 1; - m_rootNodeIndex.copyFromHostPointer(&rootNodeIndex, 1); - - //Since the AABBs need to be rearranged(sorted) for the BVH construction algorithm, - //m_mortonCodesAndAabbIndicies.m_value is used to map a sorted AABB index to the unsorted AABB index - //instead of directly moving the AABBs. It needs to be set for the ray cast traversal kernel to work. - //( m_mortonCodesAndAabbIndicies[].m_value == unsorted index == index of m_leafNodeAabbs ) - if (numLeaves == 1) - { - b3SortData leaf; - leaf.m_value = 0; //1 leaf so index is always 0; leaf.m_key does not need to be set - - m_mortonCodesAndAabbIndicies.resize(1); - m_mortonCodesAndAabbIndicies.copyFromHostPointer(&leaf, 1); - } - - return; - } - - // - { - m_internalNodeAabbs.resize(numInternalNodes); - m_internalNodeLeafIndexRanges.resize(numInternalNodes); - m_internalNodeChildNodes.resize(numInternalNodes); - m_internalNodeParentNodes.resize(numInternalNodes); - - m_commonPrefixes.resize(numInternalNodes); - m_commonPrefixLengths.resize(numInternalNodes); - m_distanceFromRoot.resize(numInternalNodes); - - m_leafNodeParentNodes.resize(numLeaves); - m_mortonCodesAndAabbIndicies.resize(numLeaves); - m_mergedAabb.resize(numLeaves); - } - - //Find the merged AABB of all small AABBs; this is used to define the size of - //each cell in the virtual grid for the next kernel(2^10 cells in each dimension). - { - B3_PROFILE("Find AABB of merged nodes"); - - m_mergedAabb.copyFromOpenCLArray(m_leafNodeAabbs); //Need to make a copy since the kernel modifies the array - - for (int numAabbsNeedingMerge = numLeaves; numAabbsNeedingMerge >= 2; - numAabbsNeedingMerge = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2) - { - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_mergedAabb.getBufferCL()) //Resulting AABB is stored in m_mergedAabb[0] - }; - - b3LauncherCL launcher(m_queue, m_findAllNodesMergedAabbKernel, "m_findAllNodesMergedAabbKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numAabbsNeedingMerge); - - launcher.launch1D(numAabbsNeedingMerge); - } - - clFinish(m_queue); - } - - //Insert the center of the AABBs into a virtual grid, - //then convert the discrete grid coordinates into a morton code - //For each element in m_mortonCodesAndAabbIndicies, set - // m_key == morton code (value to sort by) - // m_value == small AABB index - { - B3_PROFILE("Assign morton codes"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()), - b3BufferInfoCL(m_mergedAabb.getBufferCL()), - b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_assignMortonCodesAndAabbIndiciesKernel, "m_assignMortonCodesAndAabbIndiciesKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numLeaves); - - launcher.launch1D(numLeaves); - clFinish(m_queue); - } - - // - { - B3_PROFILE("Sort leaves by morton codes"); - - m_radixSorter.execute(m_mortonCodesAndAabbIndicies); - clFinish(m_queue); - } - - // - constructBinaryRadixTree(); - - //Since it is a sorted binary radix tree, each internal node contains a contiguous subset of leaf node indices. - //The root node contains leaf node indices in the range [0, numLeafNodes - 1]. - //The child nodes of each node split their parent's index range into 2 contiguous halves. - // - //For example, if the root has indices [0, 31], its children might partition that range into [0, 11] and [12, 31]. - //The next level in the tree could then split those ranges into [0, 2], [3, 11], [12, 22], and [23, 31]. - // - //This property can be used for optimizing calculateOverlappingPairs(), to avoid testing each AABB pair twice - { - B3_PROFILE("m_findLeafIndexRangesKernel"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()), - b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_findLeafIndexRangesKernel, "m_findLeafIndexRangesKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numInternalNodes); - - launcher.launch1D(numInternalNodes); - clFinish(m_queue); - } -} - -void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& out_overlappingPairs) -{ - int maxPairs = out_overlappingPairs.size(); - b3OpenCLArray<int>& numPairsGpu = m_temp; - - int reset = 0; - numPairsGpu.copyFromHostPointer(&reset, 1); - - // - if (m_leafNodeAabbs.size() > 1) - { - B3_PROFILE("PLBVH small-small AABB test"); - - int numQueryAabbs = m_leafNodeAabbs.size(); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()), - - b3BufferInfoCL(m_rootNodeIndex.getBufferCL()), - b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()), - b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()), - b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()), - b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()), - - b3BufferInfoCL(numPairsGpu.getBufferCL()), - b3BufferInfoCL(out_overlappingPairs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_plbvhCalculateOverlappingPairsKernel, "m_plbvhCalculateOverlappingPairsKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(maxPairs); - launcher.setConst(numQueryAabbs); - - launcher.launch1D(numQueryAabbs); - clFinish(m_queue); - } - - int numLargeAabbRigids = m_largeAabbs.size(); - if (numLargeAabbRigids > 0 && m_leafNodeAabbs.size() > 0) - { - B3_PROFILE("PLBVH large-small AABB test"); - - int numQueryAabbs = m_leafNodeAabbs.size(); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()), - b3BufferInfoCL(m_largeAabbs.getBufferCL()), - - b3BufferInfoCL(numPairsGpu.getBufferCL()), - b3BufferInfoCL(out_overlappingPairs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_plbvhLargeAabbAabbTestKernel, "m_plbvhLargeAabbAabbTestKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(maxPairs); - launcher.setConst(numLargeAabbRigids); - launcher.setConst(numQueryAabbs); - - launcher.launch1D(numQueryAabbs); - clFinish(m_queue); - } - - // - int numPairs = -1; - numPairsGpu.copyToHostPointer(&numPairs, 1); - if (numPairs > maxPairs) - { - b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); - numPairs = maxPairs; - numPairsGpu.copyFromHostPointer(&maxPairs, 1); - } - - out_overlappingPairs.resize(numPairs); -} - -void b3GpuParallelLinearBvh::testRaysAgainstBvhAabbs(const b3OpenCLArray<b3RayInfo>& rays, - b3OpenCLArray<int>& out_numRayRigidPairs, b3OpenCLArray<b3Int2>& out_rayRigidPairs) -{ - B3_PROFILE("PLBVH testRaysAgainstBvhAabbs()"); - - int numRays = rays.size(); - int maxRayRigidPairs = out_rayRigidPairs.size(); - - int reset = 0; - out_numRayRigidPairs.copyFromHostPointer(&reset, 1); - - // - if (m_leafNodeAabbs.size() > 0) - { - B3_PROFILE("PLBVH ray test small AABB"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()), - - b3BufferInfoCL(m_rootNodeIndex.getBufferCL()), - b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()), - b3BufferInfoCL(m_internalNodeAabbs.getBufferCL()), - b3BufferInfoCL(m_internalNodeLeafIndexRanges.getBufferCL()), - b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()), - - b3BufferInfoCL(rays.getBufferCL()), - - b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()), - b3BufferInfoCL(out_rayRigidPairs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_plbvhRayTraverseKernel, "m_plbvhRayTraverseKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(maxRayRigidPairs); - launcher.setConst(numRays); - - launcher.launch1D(numRays); - clFinish(m_queue); - } - - int numLargeAabbRigids = m_largeAabbs.size(); - if (numLargeAabbRigids > 0) - { - B3_PROFILE("PLBVH ray test large AABB"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_largeAabbs.getBufferCL()), - b3BufferInfoCL(rays.getBufferCL()), - - b3BufferInfoCL(out_numRayRigidPairs.getBufferCL()), - b3BufferInfoCL(out_rayRigidPairs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_plbvhLargeAabbRayTestKernel, "m_plbvhLargeAabbRayTestKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numLargeAabbRigids); - launcher.setConst(maxRayRigidPairs); - launcher.setConst(numRays); - - launcher.launch1D(numRays); - clFinish(m_queue); - } - - // - int numRayRigidPairs = -1; - out_numRayRigidPairs.copyToHostPointer(&numRayRigidPairs, 1); - - if (numRayRigidPairs > maxRayRigidPairs) - b3Error("Error running out of rayRigid pairs: numRayRigidPairs = %d, maxRayRigidPairs = %d.\n", numRayRigidPairs, maxRayRigidPairs); -} - -void b3GpuParallelLinearBvh::constructBinaryRadixTree() -{ - B3_PROFILE("b3GpuParallelLinearBvh::constructBinaryRadixTree()"); - - int numLeaves = m_leafNodeAabbs.size(); - int numInternalNodes = numLeaves - 1; - - //Each internal node is placed in between 2 leaf nodes. - //By using this arrangement and computing the common prefix between - //these 2 adjacent leaf nodes, it is possible to quickly construct a binary radix tree. - { - B3_PROFILE("m_computeAdjacentPairCommonPrefixKernel"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()), - b3BufferInfoCL(m_commonPrefixes.getBufferCL()), - b3BufferInfoCL(m_commonPrefixLengths.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_computeAdjacentPairCommonPrefixKernel, "m_computeAdjacentPairCommonPrefixKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numInternalNodes); - - launcher.launch1D(numInternalNodes); - clFinish(m_queue); - } - - //For each leaf node, select its parent node by - //comparing the 2 nearest internal nodes and assign child node indices - { - B3_PROFILE("m_buildBinaryRadixTreeLeafNodesKernel"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()), - b3BufferInfoCL(m_leafNodeParentNodes.getBufferCL()), - b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeLeafNodesKernel, "m_buildBinaryRadixTreeLeafNodesKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numLeaves); - - launcher.launch1D(numLeaves); - clFinish(m_queue); - } - - //For each internal node, perform 2 binary searches among the other internal nodes - //to its left and right to find its potential parent nodes and assign child node indices - { - B3_PROFILE("m_buildBinaryRadixTreeInternalNodesKernel"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_commonPrefixes.getBufferCL()), - b3BufferInfoCL(m_commonPrefixLengths.getBufferCL()), - b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()), - b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()), - b3BufferInfoCL(m_rootNodeIndex.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeInternalNodesKernel, "m_buildBinaryRadixTreeInternalNodesKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numInternalNodes); - - launcher.launch1D(numInternalNodes); - clFinish(m_queue); - } - - //Find the number of nodes separating each internal node and the root node - //so that the AABBs can be set using the next kernel. - //Also determine the maximum number of nodes separating an internal node and the root node. - { - B3_PROFILE("m_findDistanceFromRootKernel"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_rootNodeIndex.getBufferCL()), - b3BufferInfoCL(m_internalNodeParentNodes.getBufferCL()), - b3BufferInfoCL(m_maxDistanceFromRoot.getBufferCL()), - b3BufferInfoCL(m_distanceFromRoot.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_findDistanceFromRootKernel, "m_findDistanceFromRootKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numInternalNodes); - - launcher.launch1D(numInternalNodes); - clFinish(m_queue); - } - - //Starting from the internal nodes nearest to the leaf nodes, recursively move up - //the tree towards the root to set the AABBs of each internal node; each internal node - //checks its children and merges their AABBs - { - B3_PROFILE("m_buildBinaryRadixTreeAabbsRecursiveKernel"); - - int maxDistanceFromRoot = -1; - { - B3_PROFILE("copy maxDistanceFromRoot to CPU"); - m_maxDistanceFromRoot.copyToHostPointer(&maxDistanceFromRoot, 1); - clFinish(m_queue); - } - - for (int distanceFromRoot = maxDistanceFromRoot; distanceFromRoot >= 0; --distanceFromRoot) - { - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_distanceFromRoot.getBufferCL()), - b3BufferInfoCL(m_mortonCodesAndAabbIndicies.getBufferCL()), - b3BufferInfoCL(m_internalNodeChildNodes.getBufferCL()), - b3BufferInfoCL(m_leafNodeAabbs.getBufferCL()), - b3BufferInfoCL(m_internalNodeAabbs.getBufferCL())}; - - b3LauncherCL launcher(m_queue, m_buildBinaryRadixTreeAabbsRecursiveKernel, "m_buildBinaryRadixTreeAabbsRecursiveKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(maxDistanceFromRoot); - launcher.setConst(distanceFromRoot); - launcher.setConst(numInternalNodes); - - //It may seem inefficent to launch a thread for each internal node when a - //much smaller number of nodes is actually processed, but this is actually - //faster than determining the exact nodes that are ready to merge their child AABBs. - launcher.launch1D(numInternalNodes); - } - - clFinish(m_queue); - } -} |