diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp | 1298 |
1 files changed, 0 insertions, 1298 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp deleted file mode 100644 index 4126d03ed0..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.cpp +++ /dev/null @@ -1,1298 +0,0 @@ - -bool searchIncremental3dSapOnGpu = true; -#include <limits.h> -#include "b3GpuSapBroadphase.h" -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h" - -#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" -#include "kernels/sapKernels.h" - -#include "Bullet3Common/b3MinMax.h" - -#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl" - -/* - - - - - - - b3OpenCLArray<int> m_pairCount; - - - b3OpenCLArray<b3SapAabb> m_allAabbsGPU; - b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU; - - virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() - { - return m_allAabbsGPU; - } - virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() - { - return m_allAabbsCPU; - } - - b3OpenCLArray<b3Vector3> m_sum; - b3OpenCLArray<b3Vector3> m_sum2; - b3OpenCLArray<b3Vector3> m_dst; - - b3OpenCLArray<int> m_smallAabbsMappingGPU; - b3AlignedObjectArray<int> m_smallAabbsMappingCPU; - - b3OpenCLArray<int> m_largeAabbsMappingGPU; - b3AlignedObjectArray<int> m_largeAabbsMappingCPU; - - - b3OpenCLArray<b3Int4> m_overlappingPairs; - - //temporary gpu work memory - b3OpenCLArray<b3SortData> m_gpuSmallSortData; - b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs; - - class b3PrefixScanFloat4CL* m_prefixScanFloat4; - */ - -b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType) - : m_context(ctx), - m_device(device), - m_queue(q), - - m_objectMinMaxIndexGPUaxis0(ctx, q), - m_objectMinMaxIndexGPUaxis1(ctx, q), - m_objectMinMaxIndexGPUaxis2(ctx, q), - m_objectMinMaxIndexGPUaxis0prev(ctx, q), - m_objectMinMaxIndexGPUaxis1prev(ctx, q), - m_objectMinMaxIndexGPUaxis2prev(ctx, q), - m_sortedAxisGPU0(ctx, q), - m_sortedAxisGPU1(ctx, q), - m_sortedAxisGPU2(ctx, q), - m_sortedAxisGPU0prev(ctx, q), - m_sortedAxisGPU1prev(ctx, q), - m_sortedAxisGPU2prev(ctx, q), - m_addedHostPairsGPU(ctx, q), - m_removedHostPairsGPU(ctx, q), - m_addedCountGPU(ctx, q), - m_removedCountGPU(ctx, q), - m_currentBuffer(-1), - m_pairCount(ctx, q), - m_allAabbsGPU(ctx, q), - m_sum(ctx, q), - m_sum2(ctx, q), - m_dst(ctx, q), - m_smallAabbsMappingGPU(ctx, q), - m_largeAabbsMappingGPU(ctx, q), - m_overlappingPairs(ctx, q), - m_gpuSmallSortData(ctx, q), - m_gpuSmallSortedAabbs(ctx, q) -{ - const char* sapSrc = sapCL; - - cl_int errNum = 0; - - b3Assert(m_context); - b3Assert(m_device); - cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH); - b3Assert(errNum == CL_SUCCESS); - - b3Assert(errNum == CL_SUCCESS); -#ifndef __APPLE__ - m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context, m_device, m_queue); -#else - m_prefixScanFloat4 = 0; -#endif - m_sapKernel = 0; - - switch (kernelType) - { - case B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU: - { - m_sapKernel = 0; - break; - } - case B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU: - { - m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBruteForce", &errNum, sapProg); - break; - } - - case B3_GPU_SAP_KERNEL_ORIGINAL: - { - m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelOriginal", &errNum, sapProg); - break; - } - case B3_GPU_SAP_KERNEL_BARRIER: - { - m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBarrier", &errNum, sapProg); - break; - } - case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY: - { - m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg); - break; - } - - default: - { - m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg); - b3Error("Unknown 3D GPU SAP provided, fallback to computePairsKernelLocalSharedMemory"); - } - }; - - m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg); - b3Assert(errNum == CL_SUCCESS); - - m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "prepareSumVarianceKernel", &errNum, sapProg); - b3Assert(errNum == CL_SUCCESS); - - m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "flipFloatKernel", &errNum, sapProg); - - m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg); - - m_scatterKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "scatterKernel", &errNum, sapProg); - - m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue); -} - -b3GpuSapBroadphase::~b3GpuSapBroadphase() -{ - delete m_sorter; - delete m_prefixScanFloat4; - - clReleaseKernel(m_scatterKernel); - clReleaseKernel(m_flipFloatKernel); - clReleaseKernel(m_copyAabbsKernel); - clReleaseKernel(m_sapKernel); - clReleaseKernel(m_sap2Kernel); - clReleaseKernel(m_prepareSumVarianceKernel); -} - -/// conservative test for overlap between two aabbs -static bool TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1, - const b3Vector3& aabbMin2, const b3Vector3& aabbMax2) -{ - bool overlap = true; - overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap; - overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap; - overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap; - return overlap; -} - -//http://stereopsis.com/radix.html -static unsigned int FloatFlip(float fl) -{ - unsigned int f = *(unsigned int*)&fl; - unsigned int mask = -(int)(f >> 31) | 0x80000000; - return f ^ mask; -}; - -void b3GpuSapBroadphase::init3dSap() -{ - if (m_currentBuffer < 0) - { - m_allAabbsGPU.copyToHost(m_allAabbsCPU); - - m_currentBuffer = 0; - for (int axis = 0; axis < 3; axis++) - { - for (int buf = 0; buf < 2; buf++) - { - int totalNumAabbs = m_allAabbsCPU.size(); - int numEndPoints = 2 * totalNumAabbs; - m_sortedAxisCPU[axis][buf].resize(numEndPoints); - - if (buf == m_currentBuffer) - { - for (int i = 0; i < totalNumAabbs; i++) - { - m_sortedAxisCPU[axis][buf][i * 2].m_key = FloatFlip(m_allAabbsCPU[i].m_min[axis]) - 1; - m_sortedAxisCPU[axis][buf][i * 2].m_value = i * 2; - m_sortedAxisCPU[axis][buf][i * 2 + 1].m_key = FloatFlip(m_allAabbsCPU[i].m_max[axis]) + 1; - m_sortedAxisCPU[axis][buf][i * 2 + 1].m_value = i * 2 + 1; - } - } - } - } - - for (int axis = 0; axis < 3; axis++) - { - m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]); - } - - for (int axis = 0; axis < 3; axis++) - { - //int totalNumAabbs = m_allAabbsCPU.size(); - int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size(); - m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints); - for (int i = 0; i < numEndPoints; i++) - { - int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value; - int newDest = destIndex / 2; - if (destIndex & 1) - { - m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i; - } - else - { - m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i; - } - } - } - } -} - -static bool b3PairCmp(const b3Int4& p, const b3Int4& q) -{ - return ((p.x < q.x) || ((p.x == q.x) && (p.y < q.y))); -} - -static bool operator==(const b3Int4& a, const b3Int4& b) -{ - return a.x == b.x && a.y == b.y; -}; - -static bool operator<(const b3Int4& a, const b3Int4& b) -{ - return a.x < b.x || (a.x == b.x && a.y < b.y); -}; - -static bool operator>(const b3Int4& a, const b3Int4& b) -{ - return a.x > b.x || (a.x == b.x && a.y > b.y); -}; - -b3AlignedObjectArray<b3Int4> addedHostPairs; -b3AlignedObjectArray<b3Int4> removedHostPairs; - -b3AlignedObjectArray<b3SapAabb> preAabbs; - -void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap() -{ - //static int framepje = 0; - //printf("framepje=%d\n",framepje++); - - B3_PROFILE("calculateOverlappingPairsHostIncremental3Sap"); - - addedHostPairs.resize(0); - removedHostPairs.resize(0); - - b3Assert(m_currentBuffer >= 0); - - { - preAabbs.resize(m_allAabbsCPU.size()); - for (int i = 0; i < preAabbs.size(); i++) - { - preAabbs[i] = m_allAabbsCPU[i]; - } - } - - if (m_currentBuffer < 0) - return; - { - B3_PROFILE("m_allAabbsGPU.copyToHost"); - m_allAabbsGPU.copyToHost(m_allAabbsCPU); - } - - b3AlignedObjectArray<b3Int4> allPairs; - { - B3_PROFILE("m_overlappingPairs.copyToHost"); - m_overlappingPairs.copyToHost(allPairs); - } - if (0) - { - { - printf("ab[40].min=%f,%f,%f,ab[40].max=%f,%f,%f\n", - m_allAabbsCPU[40].m_min[0], m_allAabbsCPU[40].m_min[1], m_allAabbsCPU[40].m_min[2], - m_allAabbsCPU[40].m_max[0], m_allAabbsCPU[40].m_max[1], m_allAabbsCPU[40].m_max[2]); - } - - { - printf("ab[53].min=%f,%f,%f,ab[53].max=%f,%f,%f\n", - m_allAabbsCPU[53].m_min[0], m_allAabbsCPU[53].m_min[1], m_allAabbsCPU[53].m_min[2], - m_allAabbsCPU[53].m_max[0], m_allAabbsCPU[53].m_max[1], m_allAabbsCPU[53].m_max[2]); - } - - { - b3Int4 newPair; - newPair.x = 40; - newPair.y = 53; - int index = allPairs.findBinarySearch(newPair); - printf("hasPair(40,53)=%d out of %d\n", index, allPairs.size()); - - { - int overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[40].m_min, (const b3Vector3&)m_allAabbsCPU[40].m_max, (const b3Vector3&)m_allAabbsCPU[53].m_min, (const b3Vector3&)m_allAabbsCPU[53].m_max); - printf("overlap=%d\n", overlap); - } - - if (preAabbs.size()) - { - int prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[40].m_min, (const b3Vector3&)preAabbs[40].m_max, (const b3Vector3&)preAabbs[53].m_min, (const b3Vector3&)preAabbs[53].m_max); - printf("prevoverlap=%d\n", prevOverlap); - } - else - { - printf("unknown prevoverlap\n"); - } - } - } - - if (0) - { - for (int i = 0; i < m_allAabbsCPU.size(); i++) - { - //printf("aabb[%d] min=%f,%f,%f max=%f,%f,%f\n",i,m_allAabbsCPU[i].m_min[0],m_allAabbsCPU[i].m_min[1],m_allAabbsCPU[i].m_min[2], m_allAabbsCPU[i].m_max[0],m_allAabbsCPU[i].m_max[1],m_allAabbsCPU[i].m_max[2]); - } - - for (int axis = 0; axis < 3; axis++) - { - for (int buf = 0; buf < 2; buf++) - { - b3Assert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size() * 2); - } - } - } - - m_currentBuffer = 1 - m_currentBuffer; - - int totalNumAabbs = m_allAabbsCPU.size(); - - { - B3_PROFILE("assign m_sortedAxisCPU(FloatFlip)"); - for (int i = 0; i < totalNumAabbs; i++) - { - unsigned int keyMin[3]; - unsigned int keyMax[3]; - for (int axis = 0; axis < 3; axis++) - { - float vmin = m_allAabbsCPU[i].m_min[axis]; - float vmax = m_allAabbsCPU[i].m_max[axis]; - keyMin[axis] = FloatFlip(vmin); - keyMax[axis] = FloatFlip(vmax); - - m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_key = keyMin[axis] - 1; - m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_value = i * 2; - m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_key = keyMax[axis] + 1; - m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_value = i * 2 + 1; - } - //printf("aabb[%d] min=%u,%u,%u max %u,%u,%u\n", i,keyMin[0],keyMin[1],keyMin[2],keyMax[0],keyMax[1],keyMax[2]); - } - } - - { - B3_PROFILE("sort m_sortedAxisCPU"); - for (int axis = 0; axis < 3; axis++) - m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]); - } - -#if 0 - if (0) - { - for (int axis=0;axis<3;axis++) - { - //printf("axis %d\n",axis); - for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++) - { - //int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key; - //int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value; - //printf("[%d]=%d\n",i,value); - } - - } - } -#endif - - { - B3_PROFILE("assign m_objectMinMaxIndexCPU"); - for (int axis = 0; axis < 3; axis++) - { - int totalNumAabbs = m_allAabbsCPU.size(); - int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size(); - m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(totalNumAabbs); - for (int i = 0; i < numEndPoints; i++) - { - int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value; - int newDest = destIndex / 2; - if (destIndex & 1) - { - m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i; - } - else - { - m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i; - } - } - } - } - -#if 0 - if (0) - { - printf("==========================\n"); - for (int axis=0;axis<3;axis++) - { - unsigned int curMinIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].x; - unsigned int curMaxIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].y; - unsigned int prevMaxIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].y; - unsigned int prevMinIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].x; - - int dmin40 = curMinIndex40 - prevMinIndex40; - int dmax40 = curMinIndex40 - prevMinIndex40; - printf("axis %d curMinIndex40=%d prevMinIndex40=%d\n",axis,curMinIndex40, prevMinIndex40); - printf("axis %d curMaxIndex40=%d prevMaxIndex40=%d\n",axis,curMaxIndex40, prevMaxIndex40); - } - printf(".........................\n"); - for (int axis=0;axis<3;axis++) - { - unsigned int curMinIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].x; - unsigned int curMaxIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].y; - unsigned int prevMaxIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].y; - unsigned int prevMinIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].x; - - int dmin40 = curMinIndex53 - prevMinIndex53; - int dmax40 = curMinIndex53 - prevMinIndex53; - printf("axis %d curMinIndex53=%d prevMinIndex53=%d\n",axis,curMinIndex53, prevMinIndex53); - printf("axis %d curMaxIndex53=%d prevMaxIndex53=%d\n",axis,curMaxIndex53, prevMaxIndex53); - } - - } -#endif - - int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size(); - int b = m_objectMinMaxIndexCPU[1][m_currentBuffer].size(); - int c = m_objectMinMaxIndexCPU[2][m_currentBuffer].size(); - b3Assert(a == b); - b3Assert(b == c); - /* - if (searchIncremental3dSapOnGpu) - { - B3_PROFILE("computePairsIncremental3dSapKernelGPU"); - int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size(); - int maxCapacity = 1024*1024; - { - B3_PROFILE("copy from host"); - m_objectMinMaxIndexGPUaxis0.copyFromHost(m_objectMinMaxIndexCPU[0][m_currentBuffer]); - m_objectMinMaxIndexGPUaxis1.copyFromHost(m_objectMinMaxIndexCPU[1][m_currentBuffer]); - m_objectMinMaxIndexGPUaxis2.copyFromHost(m_objectMinMaxIndexCPU[2][m_currentBuffer]); - m_objectMinMaxIndexGPUaxis0prev.copyFromHost(m_objectMinMaxIndexCPU[0][1-m_currentBuffer]); - m_objectMinMaxIndexGPUaxis1prev.copyFromHost(m_objectMinMaxIndexCPU[1][1-m_currentBuffer]); - m_objectMinMaxIndexGPUaxis2prev.copyFromHost(m_objectMinMaxIndexCPU[2][1-m_currentBuffer]); - - m_sortedAxisGPU0.copyFromHost(m_sortedAxisCPU[0][m_currentBuffer]); - m_sortedAxisGPU1.copyFromHost(m_sortedAxisCPU[1][m_currentBuffer]); - m_sortedAxisGPU2.copyFromHost(m_sortedAxisCPU[2][m_currentBuffer]); - m_sortedAxisGPU0prev.copyFromHost(m_sortedAxisCPU[0][1-m_currentBuffer]); - m_sortedAxisGPU1prev.copyFromHost(m_sortedAxisCPU[1][1-m_currentBuffer]); - m_sortedAxisGPU2prev.copyFromHost(m_sortedAxisCPU[2][1-m_currentBuffer]); - - - m_addedHostPairsGPU.resize(maxCapacity); - m_removedHostPairsGPU.resize(maxCapacity); - - m_addedCountGPU.resize(0); - m_addedCountGPU.push_back(0); - m_removedCountGPU.resize(0); - m_removedCountGPU.push_back(0); - } - - { - B3_PROFILE("launch1D"); - b3LauncherCL launcher(m_queue, m_computePairsIncremental3dSapKernel,"m_computePairsIncremental3dSapKernel"); - launcher.setBuffer(m_objectMinMaxIndexGPUaxis0.getBufferCL()); - launcher.setBuffer(m_objectMinMaxIndexGPUaxis1.getBufferCL()); - launcher.setBuffer(m_objectMinMaxIndexGPUaxis2.getBufferCL()); - launcher.setBuffer(m_objectMinMaxIndexGPUaxis0prev.getBufferCL()); - launcher.setBuffer(m_objectMinMaxIndexGPUaxis1prev.getBufferCL()); - launcher.setBuffer(m_objectMinMaxIndexGPUaxis2prev.getBufferCL()); - - launcher.setBuffer(m_sortedAxisGPU0.getBufferCL()); - launcher.setBuffer(m_sortedAxisGPU1.getBufferCL()); - launcher.setBuffer(m_sortedAxisGPU2.getBufferCL()); - launcher.setBuffer(m_sortedAxisGPU0prev.getBufferCL()); - launcher.setBuffer(m_sortedAxisGPU1prev.getBufferCL()); - launcher.setBuffer(m_sortedAxisGPU2prev.getBufferCL()); - - - launcher.setBuffer(m_addedHostPairsGPU.getBufferCL()); - launcher.setBuffer(m_removedHostPairsGPU.getBufferCL()); - launcher.setBuffer(m_addedCountGPU.getBufferCL()); - launcher.setBuffer(m_removedCountGPU.getBufferCL()); - launcher.setConst(maxCapacity); - launcher.setConst( numObjects); - launcher.launch1D( numObjects); - clFinish(m_queue); - } - - { - B3_PROFILE("copy to host"); - int addedCountGPU = m_addedCountGPU.at(0); - m_addedHostPairsGPU.resize(addedCountGPU); - m_addedHostPairsGPU.copyToHost(addedHostPairs); - - //printf("addedCountGPU=%d\n",addedCountGPU); - int removedCountGPU = m_removedCountGPU.at(0); - m_removedHostPairsGPU.resize(removedCountGPU); - m_removedHostPairsGPU.copyToHost(removedHostPairs); - //printf("removedCountGPU=%d\n",removedCountGPU); - - } - - - - } - else - */ - { - int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size(); - - B3_PROFILE("actual search"); - for (int i = 0; i < numObjects; i++) - { - //int numObjects = m_objectMinMaxIndexCPU[axis][m_currentBuffer].size(); - //int checkObjects[]={40,53}; - //int numCheckObjects = sizeof(checkObjects)/sizeof(int); - - //for (int a=0;a<numCheckObjects ;a++) - - for (int axis = 0; axis < 3; axis++) - { - //int i = checkObjects[a]; - - unsigned int curMinIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].x; - unsigned int curMaxIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].y; - unsigned int prevMinIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].x; - int dmin = curMinIndex - prevMinIndex; - - unsigned int prevMaxIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].y; - - int dmax = curMaxIndex - prevMaxIndex; - if (dmin != 0) - { - //printf("for object %d, dmin=%d\n",i,dmin); - } - if (dmax != 0) - { - //printf("for object %d, dmax=%d\n",i,dmax); - } - for (int otherbuffer = 0; otherbuffer < 2; otherbuffer++) - { - if (dmin != 0) - { - int stepMin = dmin < 0 ? -1 : 1; - for (int j = prevMinIndex; j != curMinIndex; j += stepMin) - { - int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y; - int otherIndex = otherIndex2 / 2; - if (otherIndex != i) - { - bool otherIsMax = ((otherIndex2 & 1) != 0); - - if (otherIsMax) - { - //bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max); - //bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max); - - bool overlap = true; - - for (int ax = 0; ax < 3; ax++) - { - if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) || - (m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x)) - overlap = false; - } - - // b3Assert(overlap2==overlap); - - bool prevOverlap = true; - - for (int ax = 0; ax < 3; ax++) - { - if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) || - (m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x)) - prevOverlap = false; - } - - //b3Assert(overlap==overlap2); - - if (dmin < 0) - { - if (overlap && !prevOverlap) - { - //add a pair - b3Int4 newPair; - if (i <= otherIndex) - { - newPair.x = i; - newPair.y = otherIndex; - } - else - { - newPair.x = otherIndex; - newPair.y = i; - } - addedHostPairs.push_back(newPair); - } - } - else - { - if (!overlap && prevOverlap) - { - //remove a pair - b3Int4 removedPair; - if (i <= otherIndex) - { - removedPair.x = i; - removedPair.y = otherIndex; - } - else - { - removedPair.x = otherIndex; - removedPair.y = i; - } - removedHostPairs.push_back(removedPair); - } - } //otherisMax - } //if (dmin<0) - } //if (otherIndex!=i) - } //for (int j= - } - - if (dmax != 0) - { - int stepMax = dmax < 0 ? -1 : 1; - for (int j = prevMaxIndex; j != curMaxIndex; j += stepMax) - { - int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y; - int otherIndex = otherIndex2 / 2; - if (otherIndex != i) - { - //bool otherIsMin = ((otherIndex2&1)==0); - //if (otherIsMin) - { - //bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max); - //bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max); - - bool overlap = true; - - for (int ax = 0; ax < 3; ax++) - { - if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) || - (m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x)) - overlap = false; - } - //b3Assert(overlap2==overlap); - - bool prevOverlap = true; - - for (int ax = 0; ax < 3; ax++) - { - if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) || - (m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x)) - prevOverlap = false; - } - - if (dmax > 0) - { - if (overlap && !prevOverlap) - { - //add a pair - b3Int4 newPair; - if (i <= otherIndex) - { - newPair.x = i; - newPair.y = otherIndex; - } - else - { - newPair.x = otherIndex; - newPair.y = i; - } - addedHostPairs.push_back(newPair); - } - } - else - { - if (!overlap && prevOverlap) - { - //if (otherIndex2&1==0) -> min? - //remove a pair - b3Int4 removedPair; - if (i <= otherIndex) - { - removedPair.x = i; - removedPair.y = otherIndex; - } - else - { - removedPair.x = otherIndex; - removedPair.y = i; - } - removedHostPairs.push_back(removedPair); - } - } - - } //if (dmin<0) - } //if (otherIndex!=i) - } //for (int j= - } - } //for (int otherbuffer - } //for (int axis=0; - } //for (int i=0;i<numObjects - } - - //remove duplicates and add/remove then to existing m_overlappingPairs - - { - { - B3_PROFILE("sort allPairs"); - allPairs.quickSort(b3PairCmp); - } - { - B3_PROFILE("sort addedHostPairs"); - addedHostPairs.quickSort(b3PairCmp); - } - { - B3_PROFILE("sort removedHostPairs"); - removedHostPairs.quickSort(b3PairCmp); - } - } - - b3Int4 prevPair; - prevPair.x = -1; - prevPair.y = -1; - - int uniqueRemovedPairs = 0; - - b3AlignedObjectArray<int> removedPositions; - - { - B3_PROFILE("actual removing"); - for (int i = 0; i < removedHostPairs.size(); i++) - { - b3Int4 removedPair = removedHostPairs[i]; - if ((removedPair.x != prevPair.x) || (removedPair.y != prevPair.y)) - { - int index1 = allPairs.findBinarySearch(removedPair); - - //#ifdef _DEBUG - - int index2 = allPairs.findLinearSearch(removedPair); - b3Assert(index1 == index2); - - //b3Assert(index1!=allPairs.size()); - if (index1 < allPairs.size()) - //#endif//_DEBUG - { - uniqueRemovedPairs++; - removedPositions.push_back(index1); - { - //printf("framepje(%d) remove pair(%d):%d,%d\n",framepje,i,removedPair.x,removedPair.y); - } - } - } - prevPair = removedPair; - } - - if (uniqueRemovedPairs) - { - for (int i = 0; i < removedPositions.size(); i++) - { - allPairs[removedPositions[i]].x = INT_MAX; - allPairs[removedPositions[i]].y = INT_MAX; - } - allPairs.quickSort(b3PairCmp); - allPairs.resize(allPairs.size() - uniqueRemovedPairs); - } - } - //if (uniqueRemovedPairs) - // printf("uniqueRemovedPairs=%d\n",uniqueRemovedPairs); - //printf("removedHostPairs.size = %d\n",removedHostPairs.size()); - - prevPair.x = -1; - prevPair.y = -1; - - int uniqueAddedPairs = 0; - b3AlignedObjectArray<b3Int4> actualAddedPairs; - - { - B3_PROFILE("actual adding"); - for (int i = 0; i < addedHostPairs.size(); i++) - { - b3Int4 newPair = addedHostPairs[i]; - if ((newPair.x != prevPair.x) || (newPair.y != prevPair.y)) - { - //#ifdef _DEBUG - int index1 = allPairs.findBinarySearch(newPair); - - int index2 = allPairs.findLinearSearch(newPair); - b3Assert(index1 == index2); - - b3Assert(index1 == allPairs.size()); - if (index1 != allPairs.size()) - { - printf("??\n"); - } - - if (index1 == allPairs.size()) - //#endif //_DEBUG - { - uniqueAddedPairs++; - actualAddedPairs.push_back(newPair); - } - } - prevPair = newPair; - } - for (int i = 0; i < actualAddedPairs.size(); i++) - { - //printf("framepje (%d), new pair(%d):%d,%d\n",framepje,i,actualAddedPairs[i].x,actualAddedPairs[i].y); - allPairs.push_back(actualAddedPairs[i]); - } - } - - //if (uniqueAddedPairs) - // printf("uniqueAddedPairs=%d\n", uniqueAddedPairs); - - { - B3_PROFILE("m_overlappingPairs.copyFromHost"); - m_overlappingPairs.copyFromHost(allPairs); - } -} - -void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs) -{ - //test - // if (m_currentBuffer>=0) - // return calculateOverlappingPairsHostIncremental3Sap(); - - b3Assert(m_allAabbsCPU.size() == m_allAabbsGPU.size()); - m_allAabbsGPU.copyToHost(m_allAabbsCPU); - - int axis = 0; - { - B3_PROFILE("CPU compute best variance axis"); - b3Vector3 s = b3MakeVector3(0, 0, 0), s2 = b3MakeVector3(0, 0, 0); - int numRigidBodies = m_smallAabbsMappingCPU.size(); - - for (int i = 0; i < numRigidBodies; i++) - { - b3SapAabb aabb = this->m_allAabbsCPU[m_smallAabbsMappingCPU[i]]; - - b3Vector3 maxAabb = b3MakeVector3(aabb.m_max[0], aabb.m_max[1], aabb.m_max[2]); - b3Vector3 minAabb = b3MakeVector3(aabb.m_min[0], aabb.m_min[1], aabb.m_min[2]); - b3Vector3 centerAabb = (maxAabb + minAabb) * 0.5f; - - s += centerAabb; - s2 += centerAabb * centerAabb; - } - b3Vector3 v = s2 - (s * s) / (float)numRigidBodies; - - if (v[1] > v[0]) - axis = 1; - if (v[2] > v[axis]) - axis = 2; - } - - b3AlignedObjectArray<b3Int4> hostPairs; - - { - int numSmallAabbs = m_smallAabbsMappingCPU.size(); - for (int i = 0; i < numSmallAabbs; i++) - { - b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]]; - //float reference = smallAabbi.m_max[axis]; - - for (int j = i + 1; j < numSmallAabbs; j++) - { - b3SapAabb smallAabbj = m_allAabbsCPU[m_smallAabbsMappingCPU[j]]; - - if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max, - (b3Vector3&)smallAabbj.m_min, (b3Vector3&)smallAabbj.m_max)) - { - b3Int4 pair; - int a = smallAabbi.m_minIndices[3]; - int b = smallAabbj.m_minIndices[3]; - if (a <= b) - { - pair.x = a; //store the original index in the unsorted aabb array - pair.y = b; - } - else - { - pair.x = b; //store the original index in the unsorted aabb array - pair.y = a; - } - hostPairs.push_back(pair); - } - } - } - } - - { - int numSmallAabbs = m_smallAabbsMappingCPU.size(); - for (int i = 0; i < numSmallAabbs; i++) - { - b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]]; - - //float reference = smallAabbi.m_max[axis]; - int numLargeAabbs = m_largeAabbsMappingCPU.size(); - - for (int j = 0; j < numLargeAabbs; j++) - { - b3SapAabb largeAabbj = m_allAabbsCPU[m_largeAabbsMappingCPU[j]]; - if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max, - (b3Vector3&)largeAabbj.m_min, (b3Vector3&)largeAabbj.m_max)) - { - b3Int4 pair; - int a = largeAabbj.m_minIndices[3]; - int b = smallAabbi.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 - } - - hostPairs.push_back(pair); - } - } - } - } - - if (hostPairs.size() > maxPairs) - { - hostPairs.resize(maxPairs); - } - - if (hostPairs.size()) - { - m_overlappingPairs.copyFromHost(hostPairs); - } - else - { - m_overlappingPairs.resize(0); - } - - //init3dSap(); -} - -void b3GpuSapBroadphase::reset() -{ - m_allAabbsGPU.resize(0); - m_allAabbsCPU.resize(0); - - m_smallAabbsMappingGPU.resize(0); - m_smallAabbsMappingCPU.resize(0); - - m_pairCount.resize(0); - - m_largeAabbsMappingGPU.resize(0); - m_largeAabbsMappingCPU.resize(0); -} - -void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs) -{ - if (m_sapKernel == 0) - { - calculateOverlappingPairsHost(maxPairs); - return; - } - - //if (m_currentBuffer>=0) - // return calculateOverlappingPairsHostIncremental3Sap(); - - //calculateOverlappingPairsHost(maxPairs); - - B3_PROFILE("GPU 1-axis SAP calculateOverlappingPairs"); - - int axis = 0; - - { - //bool syncOnHost = false; - - int numSmallAabbs = m_smallAabbsMappingCPU.size(); - if (m_prefixScanFloat4 && numSmallAabbs) - { - B3_PROFILE("GPU compute best variance axis"); - - if (m_dst.size() != (numSmallAabbs + 1)) - { - m_dst.resize(numSmallAabbs + 128); - m_sum.resize(numSmallAabbs + 128); - m_sum2.resize(numSmallAabbs + 128); - m_sum.at(numSmallAabbs) = b3MakeVector3(0, 0, 0); //slow? - m_sum2.at(numSmallAabbs) = b3MakeVector3(0, 0, 0); //slow? - } - - b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel, "m_prepareSumVarianceKernel"); - launcher.setBuffer(m_allAabbsGPU.getBufferCL()); - - launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL()); - launcher.setBuffer(m_sum.getBufferCL()); - launcher.setBuffer(m_sum2.getBufferCL()); - launcher.setConst(numSmallAabbs); - int num = numSmallAabbs; - launcher.launch1D(num); - - b3Vector3 s; - b3Vector3 s2; - m_prefixScanFloat4->execute(m_sum, m_dst, numSmallAabbs + 1, &s); - m_prefixScanFloat4->execute(m_sum2, m_dst, numSmallAabbs + 1, &s2); - - b3Vector3 v = s2 - (s * s) / (float)numSmallAabbs; - - if (v[1] > v[0]) - axis = 1; - if (v[2] > v[axis]) - axis = 2; - } - - m_gpuSmallSortData.resize(numSmallAabbs); - -#if 1 - if (m_smallAabbsMappingGPU.size()) - { - B3_PROFILE("flipFloatKernel"); - b3BufferInfoCL bInfo[] = { - b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true), - b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true), - b3BufferInfoCL(m_gpuSmallSortData.getBufferCL())}; - b3LauncherCL launcher(m_queue, m_flipFloatKernel, "m_flipFloatKernel"); - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numSmallAabbs); - launcher.setConst(axis); - - int num = numSmallAabbs; - launcher.launch1D(num); - clFinish(m_queue); - } - - if (m_gpuSmallSortData.size()) - { - B3_PROFILE("gpu radix sort"); - m_sorter->execute(m_gpuSmallSortData); - clFinish(m_queue); - } - - m_gpuSmallSortedAabbs.resize(numSmallAabbs); - if (numSmallAabbs) - { - B3_PROFILE("scatterKernel"); - - b3BufferInfoCL bInfo[] = { - b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true), - b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true), - b3BufferInfoCL(m_gpuSmallSortData.getBufferCL(), true), - b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())}; - b3LauncherCL launcher(m_queue, m_scatterKernel, "m_scatterKernel "); - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numSmallAabbs); - int num = numSmallAabbs; - launcher.launch1D(num); - clFinish(m_queue); - } - - m_overlappingPairs.resize(maxPairs); - - m_pairCount.resize(0); - m_pairCount.push_back(0); - int numPairs = 0; - - { - int numLargeAabbs = m_largeAabbsMappingGPU.size(); - if (numLargeAabbs && numSmallAabbs) - { - //@todo - B3_PROFILE("sap2Kernel"); - b3BufferInfoCL bInfo[] = { - b3BufferInfoCL(m_allAabbsGPU.getBufferCL()), - b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()), - b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()), - b3BufferInfoCL(m_overlappingPairs.getBufferCL()), - b3BufferInfoCL(m_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(axis); - launcher.setConst(maxPairs); - //@todo: use actual maximum work item sizes of the device instead of hardcoded values - launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64); - - numPairs = m_pairCount.at(0); - if (numPairs > maxPairs) - { - b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); - numPairs = maxPairs; - } - } - } - if (m_gpuSmallSortedAabbs.size()) - { - B3_PROFILE("sapKernel"); - b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL()), b3BufferInfoCL(m_overlappingPairs.getBufferCL()), b3BufferInfoCL(m_pairCount.getBufferCL())}; - b3LauncherCL launcher(m_queue, m_sapKernel, "m_sapKernel"); - launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numSmallAabbs); - launcher.setConst(axis); - launcher.setConst(maxPairs); - - int num = numSmallAabbs; -#if 0 - int buffSize = launcher.getSerializationBufferSize(); - unsigned char* buf = new unsigned char[buffSize+sizeof(int)]; - for (int i=0;i<buffSize+1;i++) - { - unsigned char* ptr = (unsigned char*)&buf[i]; - *ptr = 0xff; - } - int actualWrite = launcher.serializeArguments(buf,buffSize); - - unsigned char* cptr = (unsigned char*)&buf[buffSize]; - // printf("buf[buffSize] = %d\n",*cptr); - - assert(buf[buffSize]==0xff);//check for buffer overrun - int* ptr = (int*)&buf[buffSize]; - - *ptr = num; - - FILE* f = fopen("m_sapKernelArgs.bin","wb"); - fwrite(buf,buffSize+sizeof(int),1,f); - fclose(f); -#endif // - - launcher.launch1D(num); - clFinish(m_queue); - - numPairs = m_pairCount.at(0); - if (numPairs > maxPairs) - { - b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); - numPairs = maxPairs; - m_pairCount.resize(0); - m_pairCount.push_back(maxPairs); - } - } - -#else - int numPairs = 0; - - b3LauncherCL launcher(m_queue, m_sapKernel); - - const char* fileName = "m_sapKernelArgs.bin"; - FILE* f = fopen(fileName, "rb"); - if (f) - { - int sizeInBytes = 0; - if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET)) - { - printf("error, cannot get file size\n"); - exit(0); - } - - unsigned char* buf = (unsigned char*)malloc(sizeInBytes); - fread(buf, sizeInBytes, 1, f); - int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context); - int num = *(int*)&buf[serializedBytes]; - launcher.launch1D(num); - - b3OpenCLArray<int> pairCount(m_context, m_queue); - int numElements = launcher.m_arrays[2]->size() / sizeof(int); - pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(), numElements); - numPairs = pairCount.at(0); - //printf("overlapping pairs = %d\n",numPairs); - b3AlignedObjectArray<b3Int4> hostOoverlappingPairs; - b3OpenCLArray<b3Int4> tmpGpuPairs(m_context, m_queue); - tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(), numPairs); - - tmpGpuPairs.copyToHost(hostOoverlappingPairs); - m_overlappingPairs.copyFromHost(hostOoverlappingPairs); - //printf("hello %d\n", m_overlappingPairs.size()); - free(buf); - fclose(f); - } - else - { - printf("error: cannot find file %s\n", fileName); - } - - clFinish(m_queue); - -#endif - - m_overlappingPairs.resize(numPairs); - - } //B3_PROFILE("GPU_RADIX SORT"); - //init3dSap(); -} - -void b3GpuSapBroadphase::writeAabbsToGpu() -{ - m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU); - m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU); - - m_allAabbsGPU.copyFromHost(m_allAabbsCPU); //might not be necessary, the 'setupGpuAabbsFull' already takes care of this -} - -void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask) -{ - int index = userPtr; - b3SapAabb aabb; - for (int i = 0; i < 4; i++) - { - aabb.m_min[i] = aabbMin[i]; - aabb.m_max[i] = aabbMax[i]; - } - aabb.m_minIndices[3] = index; - aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size(); - m_largeAabbsMappingCPU.push_back(m_allAabbsCPU.size()); - - m_allAabbsCPU.push_back(aabb); -} - -void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask) -{ - int index = userPtr; - b3SapAabb aabb; - for (int i = 0; i < 4; i++) - { - aabb.m_min[i] = aabbMin[i]; - aabb.m_max[i] = aabbMax[i]; - } - aabb.m_minIndices[3] = index; - aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size(); - m_smallAabbsMappingCPU.push_back(m_allAabbsCPU.size()); - - m_allAabbsCPU.push_back(aabb); -} - -cl_mem b3GpuSapBroadphase::getAabbBufferWS() -{ - return m_allAabbsGPU.getBufferCL(); -} - -int b3GpuSapBroadphase::getNumOverlap() -{ - return m_overlappingPairs.size(); -} -cl_mem b3GpuSapBroadphase::getOverlappingPairBuffer() -{ - return m_overlappingPairs.getBufferCL(); -} - -b3OpenCLArray<b3Int4>& b3GpuSapBroadphase::getOverlappingPairsGPU() -{ - return m_overlappingPairs; -} -b3OpenCLArray<int>& b3GpuSapBroadphase::getSmallAabbIndicesGPU() -{ - return m_smallAabbsMappingGPU; -} -b3OpenCLArray<int>& b3GpuSapBroadphase::getLargeAabbIndicesGPU() -{ - return m_largeAabbsMappingGPU; -} |