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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp')
-rw-r--r--thirdparty/bullet/src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp391
1 files changed, 0 insertions, 391 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp b/thirdparty/bullet/src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
deleted file mode 100644
index 161e304f09..0000000000
--- a/thirdparty/bullet/src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
+++ /dev/null
@@ -1,391 +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);
- }
-
-} \ No newline at end of file
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