1 files changed, 126 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp b/thirdparty/bullet/src/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
new file mode 100644
index 0000000000..80560d793d
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.cpp
@@ -0,0 +1,126 @@
+#include "b3PrefixScanFloat4CL.h"
+#include "b3FillCL.h"
+#define B3_PREFIXSCAN_FLOAT4_PROG_PATH "src/Bullet3OpenCL/ParallelPrimitives/kernels/PrefixScanFloat4Kernels.cl"
+
+#include "b3LauncherCL.h"
+#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
+#include "kernels/PrefixScanKernelsFloat4CL.h"
+
+b3PrefixScanFloat4CL::b3PrefixScanFloat4CL(cl_context ctx, cl_device_id device, cl_command_queue queue, int size)
+:m_commandQueue(queue)
+{
+	const char* scanKernelSource = prefixScanKernelsFloat4CL;
+	cl_int pErrNum;
+	char* additionalMacros=0;
+
+	m_workBuffer = new b3OpenCLArray<b3Vector3>(ctx,queue,size);
+	cl_program scanProg = b3OpenCLUtils::compileCLProgramFromString( ctx, device, scanKernelSource, &pErrNum,additionalMacros, B3_PREFIXSCAN_FLOAT4_PROG_PATH);
+	b3Assert(scanProg);
+
+	m_localScanKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "LocalScanKernel", &pErrNum, scanProg,additionalMacros );
+	b3Assert(m_localScanKernel );
+	m_blockSumKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "TopLevelScanKernel", &pErrNum, scanProg,additionalMacros );
+	b3Assert(m_blockSumKernel );
+	m_propagationKernel = b3OpenCLUtils::compileCLKernelFromString( ctx, device, scanKernelSource, "AddOffsetKernel", &pErrNum, scanProg,additionalMacros );
+	b3Assert(m_propagationKernel );
+}
+
+
+b3PrefixScanFloat4CL::~b3PrefixScanFloat4CL()
+{
+	delete m_workBuffer;
+	clReleaseKernel(m_localScanKernel);
+	clReleaseKernel(m_blockSumKernel);
+	clReleaseKernel(m_propagationKernel);
+}
+
+template<class T>
+T b3NextPowerOf2(T n)
+{
+	n -= 1;
+	for(int i=0; i<sizeof(T)*8; i++)
+		n = n | (n>>i);
+	return n+1;
+}
+
+void b3PrefixScanFloat4CL::execute(b3OpenCLArray<b3Vector3>& src, b3OpenCLArray<b3Vector3>& dst, int n, b3Vector3* sum)
+{
+	
+//	b3Assert( data->m_option == EXCLUSIVE );
+	const unsigned int numBlocks = (const unsigned int)( (n+BLOCK_SIZE*2-1)/(BLOCK_SIZE*2) );
+
+	dst.resize(src.size());
+	m_workBuffer->resize(src.size());
+
+	b3Int4 constBuffer;
+	constBuffer.x = n;
+	constBuffer.y = numBlocks;
+	constBuffer.z = (int)b3NextPowerOf2( numBlocks );
+
+	b3OpenCLArray<b3Vector3>* srcNative = &src;
+	b3OpenCLArray<b3Vector3>* dstNative = &dst;
+	
+	{
+		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( srcNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+
+		b3LauncherCL launcher( m_commandQueue, m_localScanKernel ,"m_localScanKernel");
+		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst(  constBuffer );
+		launcher.launch1D( numBlocks*BLOCK_SIZE, BLOCK_SIZE );
+	}
+
+	{
+		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+
+		b3LauncherCL launcher( m_commandQueue, m_blockSumKernel ,"m_blockSumKernel");
+		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst( constBuffer );
+		launcher.launch1D( BLOCK_SIZE, BLOCK_SIZE );
+	}
+	
+
+	if( numBlocks > 1 )
+	{
+		b3BufferInfoCL bInfo[] = { b3BufferInfoCL( dstNative->getBufferCL() ), b3BufferInfoCL( m_workBuffer->getBufferCL() ) };
+		b3LauncherCL launcher( m_commandQueue, m_propagationKernel ,"m_propagationKernel");
+		launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
+		launcher.setConst( constBuffer );
+		launcher.launch1D( (numBlocks-1)*BLOCK_SIZE, BLOCK_SIZE );
+	}
+
+
+	if( sum )
+	{
+		clFinish(m_commandQueue);
+		dstNative->copyToHostPointer(sum,1,n-1,true);
+	}
+
+}
+
+
+void b3PrefixScanFloat4CL::executeHost(b3AlignedObjectArray<b3Vector3>& src, b3AlignedObjectArray<b3Vector3>& dst, int n, b3Vector3* sum)
+{
+	b3Vector3 s=b3MakeVector3(0,0,0);
+	//if( data->m_option == EXCLUSIVE )
+	{
+		for(int i=0; i<n; i++)
+		{
+			dst[i] = s;
+			s += src[i];
+		}
+	}
+	/*else
+	{
+		for(int i=0; i<n; i++)
+		{
+			s += hSrc[i];
+			hDst[i] = s;
+		}
+	}
+	*/
+
+	if( sum )
+	{
+		*sum = dst[n-1];
+	}
+}
+\ No newline at end of file