diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h | 146 |
1 files changed, 69 insertions, 77 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h index 8d36ac78f2..d17590b14a 100644 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h @@ -2,7 +2,7 @@ #define B3_GPU_SAP_BROADPHASE_H #include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2 +#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2 class b3Vector3; #include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h" @@ -11,141 +11,133 @@ class b3Vector3; #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; - + 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; + 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; - b3OpenCLArray<b3SapAabb> m_allAabbsGPU; - b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU; - - virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() + virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU() { return m_allAabbsGPU; } - virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() + virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU() { return m_allAabbsCPU; } - b3OpenCLArray<b3Vector3> m_sum; - b3OpenCLArray<b3Vector3> m_sum2; - b3OpenCLArray<b3Vector3> m_dst; + b3OpenCLArray<b3Vector3> m_sum; + b3OpenCLArray<b3Vector3> m_sum2; + b3OpenCLArray<b3Vector3> m_dst; - b3OpenCLArray<int> m_smallAabbsMappingGPU; + b3OpenCLArray<int> m_smallAabbsMappingGPU; b3AlignedObjectArray<int> m_smallAabbsMappingCPU; - b3OpenCLArray<int> m_largeAabbsMappingGPU; + b3OpenCLArray<int> m_largeAabbsMappingGPU; b3AlignedObjectArray<int> m_largeAabbsMappingCPU; - - b3OpenCLArray<b3Int4> m_overlappingPairs; + b3OpenCLArray<b3Int4> m_overlappingPairs; //temporary gpu work memory - b3OpenCLArray<b3SortData> m_gpuSmallSortData; - b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs; + b3OpenCLArray<b3SortData> m_gpuSmallSortData; + b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs; - class b3PrefixScanFloat4CL* m_prefixScanFloat4; + class b3PrefixScanFloat4CL* m_prefixScanFloat4; enum b3GpuSapKernelType { - B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU=1, + 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); + 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) + + 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); + 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) + 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); + 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) + 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); + 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) + 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); + 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) + 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); + 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(); + 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); + 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 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
\ No newline at end of file +#endif //B3_GPU_SAP_BROADPHASE_H
\ No newline at end of file |