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, 385 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp b/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp new file mode 100644 index 0000000000..74d0c8056c --- /dev/null +++ b/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp @@ -0,0 +1,385 @@ + +#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; +} + |