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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h | 151 |
1 files changed, 151 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h new file mode 100644 index 0000000000..8d36ac78f2 --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h @@ -0,0 +1,151 @@ +#ifndef B3_GPU_SAP_BROADPHASE_H +#define B3_GPU_SAP_BROADPHASE_H + +#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" +#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2 +class b3Vector3; +#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h" + +#include "b3SapAabb.h" +#include "Bullet3Common/shared/b3Int2.h" + +#include "b3GpuBroadphaseInterface.h" + + +class b3GpuSapBroadphase : public b3GpuBroadphaseInterface +{ + + cl_context m_context; + cl_device_id m_device; + cl_command_queue m_queue; + cl_kernel m_flipFloatKernel; + cl_kernel m_scatterKernel ; + cl_kernel m_copyAabbsKernel; + cl_kernel m_sapKernel; + cl_kernel m_sap2Kernel; + cl_kernel m_prepareSumVarianceKernel; + + + class b3RadixSort32CL* m_sorter; + + ///test for 3d SAP + b3AlignedObjectArray<b3SortData> m_sortedAxisCPU[3][2]; + b3AlignedObjectArray<b3UnsignedInt2> m_objectMinMaxIndexCPU[3][2]; + b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0; + b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1; + b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2; + b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0prev; + b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1prev; + b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2prev; + + b3OpenCLArray<b3SortData> m_sortedAxisGPU0; + b3OpenCLArray<b3SortData> m_sortedAxisGPU1; + b3OpenCLArray<b3SortData> m_sortedAxisGPU2; + b3OpenCLArray<b3SortData> m_sortedAxisGPU0prev; + b3OpenCLArray<b3SortData> m_sortedAxisGPU1prev; + b3OpenCLArray<b3SortData> m_sortedAxisGPU2prev; + + + b3OpenCLArray<b3Int4> m_addedHostPairsGPU; + b3OpenCLArray<b3Int4> m_removedHostPairsGPU; + b3OpenCLArray<int> m_addedCountGPU; + b3OpenCLArray<int> m_removedCountGPU; + + int m_currentBuffer; + +public: + + 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; + + enum b3GpuSapKernelType + { + B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU=1, + B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU, + B3_GPU_SAP_KERNEL_ORIGINAL, + B3_GPU_SAP_KERNEL_BARRIER, + B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY + }; + + b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q , b3GpuSapKernelType kernelType=B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY); + virtual ~b3GpuSapBroadphase(); + + static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx,cl_device_id device, cl_command_queue q) + { + return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU); + } + + static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx,cl_device_id device, cl_command_queue q) + { + return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU); + } + + static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx,cl_device_id device, cl_command_queue q) + { + return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_ORIGINAL); + } + static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx,cl_device_id device, cl_command_queue q) + { + return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BARRIER); + } + static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx,cl_device_id device, cl_command_queue q) + { + return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY); + } + + + virtual void calculateOverlappingPairs(int maxPairs); + virtual void calculateOverlappingPairsHost(int maxPairs); + + void reset(); + + void init3dSap(); + virtual void calculateOverlappingPairsHostIncremental3Sap(); + + virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask); + virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask); + + //call writeAabbsToGpu after done making all changes (createProxy etc) + virtual void writeAabbsToGpu(); + + virtual cl_mem getAabbBufferWS(); + virtual int getNumOverlap(); + virtual cl_mem getOverlappingPairBuffer(); + + virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU(); + virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU(); + virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU(); +}; + +#endif //B3_GPU_SAP_BROADPHASE_H
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