diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp | 374 |
1 files changed, 0 insertions, 374 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp b/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp deleted file mode 100644 index 6571f30548..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp +++ /dev/null @@ -1,374 +0,0 @@ - -#include "b3GpuRaycast.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h" - -#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h" -#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h" -#include "Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h" - -#include "Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" - -#define B3_RAYCAST_PATH "src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" - -struct b3GpuRaycastInternalData -{ - cl_context m_context; - cl_device_id m_device; - cl_command_queue m_q; - cl_kernel m_raytraceKernel; - cl_kernel m_raytracePairsKernel; - cl_kernel m_findRayRigidPairIndexRanges; - - b3GpuParallelLinearBvh* m_plbvh; - b3RadixSort32CL* m_radixSorter; - b3FillCL* m_fill; - - //1 element per ray - b3OpenCLArray<b3RayInfo>* m_gpuRays; - b3OpenCLArray<b3RayHit>* m_gpuHitResults; - b3OpenCLArray<int>* m_firstRayRigidPairIndexPerRay; - b3OpenCLArray<int>* m_numRayRigidPairsPerRay; - - //1 element per (ray index, rigid index) pair, where the ray intersects with the rigid's AABB - b3OpenCLArray<int>* m_gpuNumRayRigidPairs; - b3OpenCLArray<b3Int2>* m_gpuRayRigidPairs; //x == ray index, y == rigid index - - int m_test; -}; - -b3GpuRaycast::b3GpuRaycast(cl_context ctx, cl_device_id device, cl_command_queue q) -{ - m_data = new b3GpuRaycastInternalData; - m_data->m_context = ctx; - m_data->m_device = device; - m_data->m_q = q; - m_data->m_raytraceKernel = 0; - m_data->m_raytracePairsKernel = 0; - m_data->m_findRayRigidPairIndexRanges = 0; - - m_data->m_plbvh = new b3GpuParallelLinearBvh(ctx, device, q); - m_data->m_radixSorter = new b3RadixSort32CL(ctx, device, q); - m_data->m_fill = new b3FillCL(ctx, device, q); - - m_data->m_gpuRays = new b3OpenCLArray<b3RayInfo>(ctx, q); - m_data->m_gpuHitResults = new b3OpenCLArray<b3RayHit>(ctx, q); - m_data->m_firstRayRigidPairIndexPerRay = new b3OpenCLArray<int>(ctx, q); - m_data->m_numRayRigidPairsPerRay = new b3OpenCLArray<int>(ctx, q); - m_data->m_gpuNumRayRigidPairs = new b3OpenCLArray<int>(ctx, q); - m_data->m_gpuRayRigidPairs = new b3OpenCLArray<b3Int2>(ctx, q); - - { - cl_int errNum = 0; - cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, &errNum, "", B3_RAYCAST_PATH); - b3Assert(errNum == CL_SUCCESS); - m_data->m_raytraceKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "rayCastKernel", &errNum, prog); - b3Assert(errNum == CL_SUCCESS); - m_data->m_raytracePairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "rayCastPairsKernel", &errNum, prog); - b3Assert(errNum == CL_SUCCESS); - m_data->m_findRayRigidPairIndexRanges = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device, rayCastKernelCL, "findRayRigidPairIndexRanges", &errNum, prog); - b3Assert(errNum == CL_SUCCESS); - clReleaseProgram(prog); - } -} - -b3GpuRaycast::~b3GpuRaycast() -{ - clReleaseKernel(m_data->m_raytraceKernel); - clReleaseKernel(m_data->m_raytracePairsKernel); - clReleaseKernel(m_data->m_findRayRigidPairIndexRanges); - - delete m_data->m_plbvh; - delete m_data->m_radixSorter; - delete m_data->m_fill; - - delete m_data->m_gpuRays; - delete m_data->m_gpuHitResults; - delete m_data->m_firstRayRigidPairIndexPerRay; - delete m_data->m_numRayRigidPairsPerRay; - delete m_data->m_gpuNumRayRigidPairs; - delete m_data->m_gpuRayRigidPairs; - - delete m_data; -} - -bool sphere_intersect(const b3Vector3& spherePos, b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo, float& hitFraction) -{ - b3Vector3 rs = rayFrom - spherePos; - b3Vector3 rayDir = rayTo - rayFrom; - - float A = b3Dot(rayDir, rayDir); - float B = b3Dot(rs, rayDir); - float C = b3Dot(rs, rs) - (radius * radius); - - float D = B * B - A * C; - - if (D > 0.0) - { - float t = (-B - sqrt(D)) / A; - - if ((t >= 0.0f) && (t < hitFraction)) - { - hitFraction = t; - return true; - } - } - return false; -} - -bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly, - const b3AlignedObjectArray<b3GpuFace>& faces, float& hitFraction, b3Vector3& hitNormal) -{ - float exitFraction = hitFraction; - float enterFraction = -0.1f; - b3Vector3 curHitNormal = b3MakeVector3(0, 0, 0); - for (int i = 0; i < poly.m_numFaces; i++) - { - const b3GpuFace& face = faces[poly.m_faceOffset + i]; - float fromPlaneDist = b3Dot(rayFromLocal, face.m_plane) + face.m_plane.w; - float toPlaneDist = b3Dot(rayToLocal, face.m_plane) + face.m_plane.w; - if (fromPlaneDist < 0.f) - { - if (toPlaneDist >= 0.f) - { - float fraction = fromPlaneDist / (fromPlaneDist - toPlaneDist); - if (exitFraction > fraction) - { - exitFraction = fraction; - } - } - } - else - { - if (toPlaneDist < 0.f) - { - float fraction = fromPlaneDist / (fromPlaneDist - toPlaneDist); - if (enterFraction <= fraction) - { - enterFraction = fraction; - curHitNormal = face.m_plane; - curHitNormal.w = 0.f; - } - } - else - { - return false; - } - } - if (exitFraction <= enterFraction) - return false; - } - - if (enterFraction < 0.f) - return false; - - hitFraction = enterFraction; - hitNormal = curHitNormal; - return true; -} - -void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults, - int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData) -{ - // return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables); - - B3_PROFILE("castRaysHost"); - for (int r = 0; r < rays.size(); r++) - { - b3Vector3 rayFrom = rays[r].m_from; - b3Vector3 rayTo = rays[r].m_to; - float hitFraction = hitResults[r].m_hitFraction; - - int hitBodyIndex = -1; - b3Vector3 hitNormal; - - for (int b = 0; b < numBodies; b++) - { - const b3Vector3& pos = bodies[b].m_pos; - //const b3Quaternion& orn = bodies[b].m_quat; - - switch (collidables[bodies[b].m_collidableIdx].m_shapeType) - { - case SHAPE_SPHERE: - { - b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius; - if (sphere_intersect(pos, radius, rayFrom, rayTo, hitFraction)) - { - hitBodyIndex = b; - b3Vector3 hitPoint; - hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to, hitFraction); - hitNormal = (hitPoint - bodies[b].m_pos).normalize(); - } - } - case SHAPE_CONVEX_HULL: - { - b3Transform convexWorldTransform; - convexWorldTransform.setIdentity(); - convexWorldTransform.setOrigin(bodies[b].m_pos); - convexWorldTransform.setRotation(bodies[b].m_quat); - b3Transform convexWorld2Local = convexWorldTransform.inverse(); - - b3Vector3 rayFromLocal = convexWorld2Local(rayFrom); - b3Vector3 rayToLocal = convexWorld2Local(rayTo); - - int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex; - const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex]; - if (rayConvex(rayFromLocal, rayToLocal, poly, narrowphaseData->m_convexFaces, hitFraction, hitNormal)) - { - hitBodyIndex = b; - } - - break; - } - default: - { - static bool once = true; - if (once) - { - once = false; - b3Warning("Raytest: unsupported shape type\n"); - } - } - } - } - if (hitBodyIndex >= 0) - { - hitResults[r].m_hitFraction = hitFraction; - hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to, hitFraction); - hitResults[r].m_hitNormal = hitNormal; - hitResults[r].m_hitBody = hitBodyIndex; - } - } -} -///todo: add some acceleration structure (AABBs, tree etc) -void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults, - int numBodies, const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, - const struct b3GpuNarrowPhaseInternalData* narrowphaseData, class b3GpuBroadphaseInterface* broadphase) -{ - //castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData); - - B3_PROFILE("castRaysGPU"); - - { - B3_PROFILE("raycast copyFromHost"); - m_data->m_gpuRays->copyFromHost(rays); - m_data->m_gpuHitResults->copyFromHost(hitResults); - } - - int numRays = hitResults.size(); - { - m_data->m_firstRayRigidPairIndexPerRay->resize(numRays); - m_data->m_numRayRigidPairsPerRay->resize(numRays); - - m_data->m_gpuNumRayRigidPairs->resize(1); - m_data->m_gpuRayRigidPairs->resize(numRays * 16); - } - - //run kernel - const bool USE_BRUTE_FORCE_RAYCAST = false; - if (USE_BRUTE_FORCE_RAYCAST) - { - B3_PROFILE("raycast launch1D"); - - b3LauncherCL launcher(m_data->m_q, m_data->m_raytraceKernel, "m_raytraceKernel"); - int numRays = rays.size(); - launcher.setConst(numRays); - - launcher.setBuffer(m_data->m_gpuRays->getBufferCL()); - launcher.setBuffer(m_data->m_gpuHitResults->getBufferCL()); - - launcher.setConst(numBodies); - launcher.setBuffer(narrowphaseData->m_bodyBufferGPU->getBufferCL()); - launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL()); - launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL()); - launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL()); - - launcher.launch1D(numRays); - clFinish(m_data->m_q); - } - else - { - m_data->m_plbvh->build(broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU()); - - m_data->m_plbvh->testRaysAgainstBvhAabbs(*m_data->m_gpuRays, *m_data->m_gpuNumRayRigidPairs, *m_data->m_gpuRayRigidPairs); - - int numRayRigidPairs = -1; - m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1); - if (numRayRigidPairs > m_data->m_gpuRayRigidPairs->size()) - { - numRayRigidPairs = m_data->m_gpuRayRigidPairs->size(); - m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1); - } - - m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs); //Radix sort needs b3OpenCLArray::size() to be correct - - //Sort ray-rigid pairs by ray index - { - B3_PROFILE("sort ray-rigid pairs"); - m_data->m_radixSorter->execute(*reinterpret_cast<b3OpenCLArray<b3SortData>*>(m_data->m_gpuRayRigidPairs)); - } - - //detect start,count of each ray pair - { - B3_PROFILE("detect ray-rigid pair index ranges"); - - { - B3_PROFILE("reset ray-rigid pair index ranges"); - - m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays); //atomic_min used to find first index - m_data->m_fill->execute(*m_data->m_numRayRigidPairsPerRay, 0, numRays); - clFinish(m_data->m_q); - } - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_data->m_gpuRayRigidPairs->getBufferCL()), - - b3BufferInfoCL(m_data->m_firstRayRigidPairIndexPerRay->getBufferCL()), - b3BufferInfoCL(m_data->m_numRayRigidPairsPerRay->getBufferCL())}; - - b3LauncherCL launcher(m_data->m_q, m_data->m_findRayRigidPairIndexRanges, "m_findRayRigidPairIndexRanges"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numRayRigidPairs); - - launcher.launch1D(numRayRigidPairs); - clFinish(m_data->m_q); - } - - { - B3_PROFILE("ray-rigid intersection"); - - b3BufferInfoCL bufferInfo[] = - { - b3BufferInfoCL(m_data->m_gpuRays->getBufferCL()), - b3BufferInfoCL(m_data->m_gpuHitResults->getBufferCL()), - b3BufferInfoCL(m_data->m_firstRayRigidPairIndexPerRay->getBufferCL()), - b3BufferInfoCL(m_data->m_numRayRigidPairsPerRay->getBufferCL()), - - b3BufferInfoCL(narrowphaseData->m_bodyBufferGPU->getBufferCL()), - b3BufferInfoCL(narrowphaseData->m_collidablesGPU->getBufferCL()), - b3BufferInfoCL(narrowphaseData->m_convexFacesGPU->getBufferCL()), - b3BufferInfoCL(narrowphaseData->m_convexPolyhedraGPU->getBufferCL()), - - b3BufferInfoCL(m_data->m_gpuRayRigidPairs->getBufferCL())}; - - b3LauncherCL launcher(m_data->m_q, m_data->m_raytracePairsKernel, "m_raytracePairsKernel"); - launcher.setBuffers(bufferInfo, sizeof(bufferInfo) / sizeof(b3BufferInfoCL)); - launcher.setConst(numRays); - - launcher.launch1D(numRays); - clFinish(m_data->m_q); - } - } - - //copy results - { - B3_PROFILE("raycast copyToHost"); - m_data->m_gpuHitResults->copyToHost(hitResults); - } -}
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