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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h | 151 |
1 files changed, 0 insertions, 151 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h b/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h deleted file mode 100644 index 8d36ac78f2..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h +++ /dev/null @@ -1,151 +0,0 @@ -#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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