diff options
Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp | 385 |
1 files changed, 0 insertions, 385 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp b/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp deleted file mode 100644 index 74d0c8056c..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp +++ /dev/null @@ -1,385 +0,0 @@ - -#include "b3GpuGridBroadphase.h" -#include "Bullet3Geometry/b3AabbUtil.h" -#include "kernels/gridBroadphaseKernels.h" -#include "kernels/sapKernels.h" -//#include "kernels/gridBroadphase.cl" - - -#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" - - - -#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl" -#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl" - -cl_kernel kCalcHashAABB; -cl_kernel kClearCellStart; -cl_kernel kFindCellStart; -cl_kernel kFindOverlappingPairs; -cl_kernel m_copyAabbsKernel; -cl_kernel m_sap2Kernel; - - - - - -//int maxPairsPerBody = 64; -int maxBodiesPerCell = 256;//?? - -b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue q ) -:m_context(ctx), -m_device(device), -m_queue(q), -m_allAabbsGPU1(ctx,q), -m_smallAabbsMappingGPU(ctx,q), -m_largeAabbsMappingGPU(ctx,q), -m_gpuPairs(ctx,q), - -m_hashGpu(ctx,q), - -m_cellStartGpu(ctx,q), -m_paramsGPU(ctx,q) -{ - - - b3Vector3 gridSize = b3MakeVector3(3,3,3); - b3Vector3 invGridSize = b3MakeVector3(1.f/gridSize[0],1.f/gridSize[1],1.f/gridSize[2]); - - m_paramsCPU.m_gridSize[0] = 128; - m_paramsCPU.m_gridSize[1] = 128; - m_paramsCPU.m_gridSize[2] = 128; - m_paramsCPU.m_gridSize[3] = maxBodiesPerCell; - m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell); - m_paramsCPU.m_invCellSize[0] = invGridSize[0]; - m_paramsCPU.m_invCellSize[1] = invGridSize[1]; - m_paramsCPU.m_invCellSize[2] = invGridSize[2]; - m_paramsCPU.m_invCellSize[3] = 0.f; - m_paramsGPU.push_back(m_paramsCPU); - - cl_int errNum=0; - - { - const char* sapSrc = sapCL; - cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH); - b3Assert(errNum==CL_SUCCESS); - m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg ); - m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg ); - b3Assert(errNum==CL_SUCCESS); - } - - { - - cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,gridBroadphaseCL,&errNum,"",B3_GRID_BROADPHASE_PATH); - b3Assert(errNum==CL_SUCCESS); - - kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kCalcHashAABB",&errNum,gridProg); - b3Assert(errNum==CL_SUCCESS); - - kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kClearCellStart",&errNum,gridProg); - b3Assert(errNum==CL_SUCCESS); - - kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindCellStart",&errNum,gridProg); - b3Assert(errNum==CL_SUCCESS); - - - kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindOverlappingPairs",&errNum,gridProg); - b3Assert(errNum==CL_SUCCESS); - - - - - } - - m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue); - -} -b3GpuGridBroadphase::~b3GpuGridBroadphase() -{ - clReleaseKernel( kCalcHashAABB); - clReleaseKernel( kClearCellStart); - clReleaseKernel( kFindCellStart); - clReleaseKernel( kFindOverlappingPairs); - clReleaseKernel( m_sap2Kernel); - clReleaseKernel( m_copyAabbsKernel); - - - - delete m_sorter; -} - - - -void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask) -{ - b3SapAabb aabb; - aabb.m_minVec = aabbMin; - aabb.m_maxVec = aabbMax; - aabb.m_minIndices[3] = userPtr; - aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr; - m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size()); - - m_allAabbsCPU1.push_back(aabb); - -} -void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask) -{ - b3SapAabb aabb; - aabb.m_minVec = aabbMin; - aabb.m_maxVec = aabbMax; - aabb.m_minIndices[3] = userPtr; - aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr; - m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size()); - - m_allAabbsCPU1.push_back(aabb); -} - -void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs) -{ - B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs"); - - - if (0) - { - calculateOverlappingPairsHost(maxPairs); - /* - b3AlignedObjectArray<b3Int4> cpuPairs; - m_gpuPairs.copyToHost(cpuPairs); - printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size()); - for (int i=0;i<m_gpuPairs.size();i++) - { - printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y); - } - */ - return; - } - - - - - - int numSmallAabbs = m_smallAabbsMappingGPU.size(); - - b3OpenCLArray<int> pairCount(m_context,m_queue); - pairCount.push_back(0); - m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody); - - { - int numLargeAabbs = m_largeAabbsMappingGPU.size(); - if (numLargeAabbs && numSmallAabbs) - { - B3_PROFILE("sap2Kernel"); - b3BufferInfoCL bInfo[] = { - b3BufferInfoCL( m_allAabbsGPU1.getBufferCL() ), - b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ), - b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ), - b3BufferInfoCL( m_gpuPairs.getBufferCL() ), - b3BufferInfoCL(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( 0 );//axis is not used - launcher.setConst( maxPairs ); - //@todo: use actual maximum work item sizes of the device instead of hardcoded values - launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64); - - int numPairs = pairCount.at(0); - - if (numPairs >maxPairs) - { - b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); - numPairs =maxPairs; - } - } - } - - - - - if (numSmallAabbs) - { - B3_PROFILE("gridKernel"); - m_hashGpu.resize(numSmallAabbs); - { - B3_PROFILE("kCalcHashAABB"); - b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB"); - launch.setConst(numSmallAabbs); - launch.setBuffer(m_allAabbsGPU1.getBufferCL()); - launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL()); - launch.setBuffer(m_hashGpu.getBufferCL()); - launch.setBuffer(this->m_paramsGPU.getBufferCL()); - launch.launch1D(numSmallAabbs); - } - - m_sorter->execute(m_hashGpu); - - int numCells = this->m_paramsCPU.m_gridSize[0]*this->m_paramsCPU.m_gridSize[1]*this->m_paramsCPU.m_gridSize[2]; - m_cellStartGpu.resize(numCells); - //b3AlignedObjectArray<int > cellStartCpu; - - - { - B3_PROFILE("kClearCellStart"); - b3LauncherCL launch(m_queue,kClearCellStart,"kClearCellStart"); - launch.setConst(numCells); - launch.setBuffer(m_cellStartGpu.getBufferCL()); - launch.launch1D(numCells); - //m_cellStartGpu.copyToHost(cellStartCpu); - //printf("??\n"); - - } - - - { - B3_PROFILE("kFindCellStart"); - b3LauncherCL launch(m_queue,kFindCellStart,"kFindCellStart"); - launch.setConst(numSmallAabbs); - launch.setBuffer(m_hashGpu.getBufferCL()); - launch.setBuffer(m_cellStartGpu.getBufferCL()); - launch.launch1D(numSmallAabbs); - //m_cellStartGpu.copyToHost(cellStartCpu); - //printf("??\n"); - - } - - { - B3_PROFILE("kFindOverlappingPairs"); - - - b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs"); - launch.setConst(numSmallAabbs); - launch.setBuffer(m_allAabbsGPU1.getBufferCL()); - launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL()); - launch.setBuffer(m_hashGpu.getBufferCL()); - launch.setBuffer(m_cellStartGpu.getBufferCL()); - - launch.setBuffer(m_paramsGPU.getBufferCL()); - //launch.setBuffer(0); - launch.setBuffer(pairCount.getBufferCL()); - launch.setBuffer(m_gpuPairs.getBufferCL()); - - launch.setConst(maxPairs); - launch.launch1D(numSmallAabbs); - - - int numPairs = pairCount.at(0); - if (numPairs >maxPairs) - { - b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs); - numPairs =maxPairs; - } - - m_gpuPairs.resize(numPairs); - - if (0) - { - b3AlignedObjectArray<b3Int4> pairsCpu; - m_gpuPairs.copyToHost(pairsCpu); - - int sz = m_gpuPairs.size(); - printf("m_gpuPairs.size()=%d\n",sz); - for (int i=0;i<m_gpuPairs.size();i++) - { - printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y); - } - - printf("?!?\n"); - } - - } - - - } - - - - - - //calculateOverlappingPairsHost(maxPairs); -} -void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs) -{ - - m_hostPairs.resize(0); - m_allAabbsGPU1.copyToHost(m_allAabbsCPU1); - for (int i=0;i<m_allAabbsCPU1.size();i++) - { - for (int j=i+1;j<m_allAabbsCPU1.size();j++) - { - if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec, - m_allAabbsCPU1[j].m_minVec,m_allAabbsCPU1[j].m_maxVec)) - { - b3Int4 pair; - int a = m_allAabbsCPU1[j].m_minIndices[3]; - int b = m_allAabbsCPU1[i].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 - } - - if (m_hostPairs.size()<maxPairs) - { - m_hostPairs.push_back(pair); - } - } - } - } - - - m_gpuPairs.copyFromHost(m_hostPairs); - - -} - - //call writeAabbsToGpu after done making all changes (createProxy etc) -void b3GpuGridBroadphase::writeAabbsToGpu() -{ - m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1); - m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU); - m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU); - -} - -cl_mem b3GpuGridBroadphase::getAabbBufferWS() -{ - return this->m_allAabbsGPU1.getBufferCL(); -} -int b3GpuGridBroadphase::getNumOverlap() -{ - return m_gpuPairs.size(); -} -cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer() -{ - return m_gpuPairs.getBufferCL(); -} - -b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU() -{ - return m_allAabbsGPU1; -} - -b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU() -{ - return m_allAabbsCPU1; -} - -b3OpenCLArray<b3Int4>& b3GpuGridBroadphase::getOverlappingPairsGPU() -{ - return m_gpuPairs; -} -b3OpenCLArray<int>& b3GpuGridBroadphase::getSmallAabbIndicesGPU() -{ - return m_smallAabbsMappingGPU; -} -b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU() -{ - return m_largeAabbsMappingGPU; -} - |