diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp | 540 |
1 files changed, 260 insertions, 280 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp index 641df9eb12..0721928684 100644 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp @@ -16,177 +16,174 @@ subject to the following restrictions: #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) +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 + + 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 ); + + 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 ); + 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 ); + 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 ); + + 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 ); + 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 ); + 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 ); + 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 ); + 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 ); + + 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 ); + + 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 ); + 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 ); + 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 ); + m_plbvhLargeAabbRayTestKernel = b3OpenCLUtils::compileCLKernelFromString(context, device, kernelSource, "plbvhLargeAabbRayTest", &error, m_parallelLinearBvhProgram, additionalMacros); b3Assert(m_plbvhLargeAabbRayTestKernel); } -b3GpuParallelLinearBvh::~b3GpuParallelLinearBvh() +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) +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, + + //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() ) - }; - + 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.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() ) - }; - + 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.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 numLeaves = numSmallAabbs; //Number of leaves in the BVH == Number of rigid bodies with small AABBs int numInternalNodes = numLeaves - 1; - - if(numLeaves < 2) + + 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) + 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 - + 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); @@ -197,37 +194,37 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab 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 + + //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) + + 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] - }; - + 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.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 @@ -235,34 +232,32 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab // m_value == small AABB index { B3_PROFILE("Assign morton codes"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL( m_leafNodeAabbs.getBufferCL() ), - b3BufferInfoCL( m_mergedAabb.getBufferCL() ), - b3BufferInfoCL( m_mortonCodesAndAabbIndicies.getBufferCL() ) - }; - + + 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.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. @@ -273,17 +268,16 @@ void b3GpuParallelLinearBvh::build(const b3OpenCLArray<b3SapAabb>& worldSpaceAab //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() ) - }; - + + 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.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); launcher.setConst(numInternalNodes); - + launcher.launch1D(numInternalNodes); clFinish(m_queue); } @@ -293,285 +287,271 @@ void b3GpuParallelLinearBvh::calculateOverlappingPairs(b3OpenCLArray<b3Int4>& ou { int maxPairs = out_overlappingPairs.size(); b3OpenCLArray<int>& numPairsGpu = m_temp; - + int reset = 0; numPairsGpu.copyFromHostPointer(&reset, 1); - + // - if( m_leafNodeAabbs.size() > 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() ) - }; - + + 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.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 ) + 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() ) - }; - + + 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.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) + 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) +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 ) + 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() ) - }; - + + 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.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) + 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() ) - }; - + + 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.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) + + 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() ) - }; - + + 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.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); launcher.setConst(numInternalNodes); - + launcher.launch1D(numInternalNodes); clFinish(m_queue); } - - //For each leaf node, select its parent node by + + //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() ) - }; - + + 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.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() ) - }; - + + 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.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); launcher.setConst(numInternalNodes); - + launcher.launch1D(numInternalNodes); clFinish(m_queue); } - + //Find the number of nodes seperating 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() ) - }; - + + 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.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) + + 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() ) - }; - + 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.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. + //faster than determining the exact nodes that are ready to merge their child AABBs. launcher.launch1D(numInternalNodes); } - + clFinish(m_queue); } } - -
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