diff options
Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp | 708 |
1 files changed, 0 insertions, 708 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp deleted file mode 100644 index 783e443060..0000000000 --- a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.cpp +++ /dev/null @@ -1,708 +0,0 @@ -/* -Copyright (c) 2013 Advanced Micro Devices, Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Originally written by Erwin Coumans - -#include "b3GpuRigidBodyPipeline.h" -#include "b3GpuRigidBodyPipelineInternalData.h" -#include "kernels/integrateKernel.h" -#include "kernels/updateAabbsKernel.h" - -#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" -#include "b3GpuNarrowPhase.h" -#include "Bullet3Geometry/b3AabbUtil.h" -#include "Bullet3OpenCL/BroadphaseCollision/b3SapAabb.h" -#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h" -#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" -#include "Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h" -#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h" - -//#define TEST_OTHER_GPU_SOLVER - -#define B3_RIGIDBODY_INTEGRATE_PATH "src/Bullet3OpenCL/RigidBody/kernels/integrateKernel.cl" -#define B3_RIGIDBODY_UPDATEAABB_PATH "src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.cl" - -bool useBullet2CpuSolver = true; - -//choice of contact solver -bool gUseJacobi = false; -bool gUseDbvt = false; -bool gDumpContactStats = false; -bool gCalcWorldSpaceAabbOnCpu = false; -bool gUseCalculateOverlappingPairsHost = false; -bool gIntegrateOnCpu = false; -bool gClearPairsOnGpu = true; - -#define TEST_OTHER_GPU_SOLVER 1 -#ifdef TEST_OTHER_GPU_SOLVER -#include "b3GpuJacobiContactSolver.h" -#endif //TEST_OTHER_GPU_SOLVER - -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h" -#include "Bullet3OpenCL/RigidBody/b3GpuPgsConstraintSolver.h" - -#include "b3GpuPgsContactSolver.h" -#include "b3Solver.h" - -#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h" -#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h" - - -#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h" -#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h" - -b3GpuRigidBodyPipeline::b3GpuRigidBodyPipeline(cl_context ctx,cl_device_id device, cl_command_queue q,class b3GpuNarrowPhase* narrowphase, class b3GpuBroadphaseInterface* broadphaseSap , struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config) -{ - m_data = new b3GpuRigidBodyPipelineInternalData; - m_data->m_constraintUid=0; - m_data->m_config = config; - m_data->m_context = ctx; - m_data->m_device = device; - m_data->m_queue = q; - - m_data->m_solver = new b3PgsJacobiSolver(true);//new b3PgsJacobiSolver(true); - m_data->m_gpuSolver = new b3GpuPgsConstraintSolver(ctx,device,q,true);//new b3PgsJacobiSolver(true); - - m_data->m_allAabbsGPU = new b3OpenCLArray<b3SapAabb>(ctx,q,config.m_maxConvexBodies); - m_data->m_overlappingPairsGPU = new b3OpenCLArray<b3BroadphasePair>(ctx,q,config.m_maxBroadphasePairs); - - m_data->m_gpuConstraints = new b3OpenCLArray<b3GpuGenericConstraint>(ctx,q); -#ifdef TEST_OTHER_GPU_SOLVER - m_data->m_solver3 = new b3GpuJacobiContactSolver(ctx,device,q,config.m_maxBroadphasePairs); -#endif // TEST_OTHER_GPU_SOLVER - - m_data->m_solver2 = new b3GpuPgsContactSolver(ctx,device,q,config.m_maxBroadphasePairs); - - m_data->m_raycaster = new b3GpuRaycast(ctx,device,q); - - - m_data->m_broadphaseDbvt = broadphaseDbvt; - m_data->m_broadphaseSap = broadphaseSap; - m_data->m_narrowphase = narrowphase; - m_data->m_gravity.setValue(0.f,-9.8f,0.f); - - cl_int errNum=0; - - { - cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,integrateKernelCL,&errNum,"",B3_RIGIDBODY_INTEGRATE_PATH); - b3Assert(errNum==CL_SUCCESS); - m_data->m_integrateTransformsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,integrateKernelCL, "integrateTransformsKernel",&errNum,prog); - b3Assert(errNum==CL_SUCCESS); - clReleaseProgram(prog); - } - { - cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,updateAabbsKernelCL,&errNum,"",B3_RIGIDBODY_UPDATEAABB_PATH); - b3Assert(errNum==CL_SUCCESS); - m_data->m_updateAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "initializeGpuAabbsFull",&errNum,prog); - b3Assert(errNum==CL_SUCCESS); - - - m_data->m_clearOverlappingPairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,updateAabbsKernelCL, "clearOverlappingPairsKernel",&errNum,prog); - b3Assert(errNum==CL_SUCCESS); - - clReleaseProgram(prog); - } - - -} - -b3GpuRigidBodyPipeline::~b3GpuRigidBodyPipeline() -{ - if (m_data->m_integrateTransformsKernel) - clReleaseKernel(m_data->m_integrateTransformsKernel); - - if (m_data->m_updateAabbsKernel) - clReleaseKernel(m_data->m_updateAabbsKernel); - - if (m_data->m_clearOverlappingPairsKernel) - clReleaseKernel(m_data->m_clearOverlappingPairsKernel); - delete m_data->m_raycaster; - delete m_data->m_solver; - delete m_data->m_allAabbsGPU; - delete m_data->m_gpuConstraints; - delete m_data->m_overlappingPairsGPU; - -#ifdef TEST_OTHER_GPU_SOLVER - delete m_data->m_solver3; -#endif //TEST_OTHER_GPU_SOLVER - - delete m_data->m_solver2; - - - delete m_data; -} - -void b3GpuRigidBodyPipeline::reset() -{ - m_data->m_gpuConstraints->resize(0); - m_data->m_cpuConstraints.resize(0); - m_data->m_allAabbsGPU->resize(0); - m_data->m_allAabbsCPU.resize(0); -} - -void b3GpuRigidBodyPipeline::addConstraint(b3TypedConstraint* constraint) -{ - m_data->m_joints.push_back(constraint); -} - -void b3GpuRigidBodyPipeline::removeConstraint(b3TypedConstraint* constraint) -{ - m_data->m_joints.remove(constraint); -} - - - -void b3GpuRigidBodyPipeline::removeConstraintByUid(int uid) -{ - m_data->m_gpuSolver->recomputeBatches(); - //slow linear search - m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints); - //remove - for (int i=0;i<m_data->m_cpuConstraints.size();i++) - { - if (m_data->m_cpuConstraints[i].m_uid == uid) - { - //m_data->m_cpuConstraints.remove(m_data->m_cpuConstraints[i]); - m_data->m_cpuConstraints.swap(i,m_data->m_cpuConstraints.size()-1); - m_data->m_cpuConstraints.pop_back(); - - break; - } - } - - if (m_data->m_cpuConstraints.size()) - { - m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints); - } else - { - m_data->m_gpuConstraints->resize(0); - } - -} -int b3GpuRigidBodyPipeline::createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold) -{ - m_data->m_gpuSolver->recomputeBatches(); - b3GpuGenericConstraint c; - c.m_uid = m_data->m_constraintUid; - m_data->m_constraintUid++; - c.m_flags = B3_CONSTRAINT_FLAG_ENABLED; - c.m_rbA = bodyA; - c.m_rbB = bodyB; - c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]); - c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]); - c.m_breakingImpulseThreshold = breakingThreshold; - c.m_constraintType = B3_GPU_POINT2POINT_CONSTRAINT_TYPE; - m_data->m_cpuConstraints.push_back(c); - return c.m_uid; -} -int b3GpuRigidBodyPipeline::createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB,float breakingThreshold) -{ - m_data->m_gpuSolver->recomputeBatches(); - b3GpuGenericConstraint c; - c.m_uid = m_data->m_constraintUid; - m_data->m_constraintUid++; - c.m_flags = B3_CONSTRAINT_FLAG_ENABLED; - c.m_rbA = bodyA; - c.m_rbB = bodyB; - c.m_pivotInA.setValue(pivotInA[0],pivotInA[1],pivotInA[2]); - c.m_pivotInB.setValue(pivotInB[0],pivotInB[1],pivotInB[2]); - c.m_relTargetAB.setValue(relTargetAB[0],relTargetAB[1],relTargetAB[2],relTargetAB[3]); - c.m_breakingImpulseThreshold = breakingThreshold; - c.m_constraintType = B3_GPU_FIXED_CONSTRAINT_TYPE; - - m_data->m_cpuConstraints.push_back(c); - return c.m_uid; -} - - -void b3GpuRigidBodyPipeline::stepSimulation(float deltaTime) -{ - - //update worldspace AABBs from local AABB/worldtransform - { - B3_PROFILE("setupGpuAabbs"); - setupGpuAabbsFull(); - } - - int numPairs =0; - - //compute overlapping pairs - { - - if (gUseDbvt) - { - { - B3_PROFILE("setAabb"); - m_data->m_allAabbsGPU->copyToHost(m_data->m_allAabbsCPU); - for (int i=0;i<m_data->m_allAabbsCPU.size();i++) - { - b3Vector3 aabbMin=b3MakeVector3(m_data->m_allAabbsCPU[i].m_min[0],m_data->m_allAabbsCPU[i].m_min[1],m_data->m_allAabbsCPU[i].m_min[2]); - b3Vector3 aabbMax=b3MakeVector3(m_data->m_allAabbsCPU[i].m_max[0],m_data->m_allAabbsCPU[i].m_max[1],m_data->m_allAabbsCPU[i].m_max[2]); - m_data->m_broadphaseDbvt->setAabb(i,aabbMin,aabbMax,0); - } - } - - { - B3_PROFILE("calculateOverlappingPairs"); - m_data->m_broadphaseDbvt->calculateOverlappingPairs(); - } - numPairs = m_data->m_broadphaseDbvt->getOverlappingPairCache()->getNumOverlappingPairs(); - - } else - { - if (gUseCalculateOverlappingPairsHost) - { - m_data->m_broadphaseSap->calculateOverlappingPairsHost(m_data->m_config.m_maxBroadphasePairs); - } else - { - m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs); - } - numPairs = m_data->m_broadphaseSap->getNumOverlap(); - } - } - - //compute contact points -// printf("numPairs=%d\n",numPairs); - - int numContacts = 0; - - - int numBodies = m_data->m_narrowphase->getNumRigidBodies(); - - if (numPairs) - { - cl_mem pairs =0; - cl_mem aabbsWS =0; - if (gUseDbvt) - { - B3_PROFILE("m_overlappingPairsGPU->copyFromHost"); - m_data->m_overlappingPairsGPU->copyFromHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray()); - pairs = m_data->m_overlappingPairsGPU->getBufferCL(); - aabbsWS = m_data->m_allAabbsGPU->getBufferCL(); - } else - { - pairs = m_data->m_broadphaseSap->getOverlappingPairBuffer(); - aabbsWS = m_data->m_broadphaseSap->getAabbBufferWS(); - } - - m_data->m_overlappingPairsGPU->resize(numPairs); - - //mark the contacts for each pair as 'unused' - if (numPairs) - { - b3OpenCLArray<b3BroadphasePair> gpuPairs(this->m_data->m_context,m_data->m_queue); - gpuPairs.setFromOpenCLBuffer(pairs,numPairs); - - if (gClearPairsOnGpu) - { - - - //b3AlignedObjectArray<b3BroadphasePair> hostPairs;//just for debugging - //gpuPairs.copyToHost(hostPairs); - - b3LauncherCL launcher(m_data->m_queue,m_data->m_clearOverlappingPairsKernel,"clearOverlappingPairsKernel"); - launcher.setBuffer(pairs); - launcher.setConst(numPairs); - launcher.launch1D(numPairs); - - - //gpuPairs.copyToHost(hostPairs); - - - } else - { - b3AlignedObjectArray<b3BroadphasePair> hostPairs; - gpuPairs.copyToHost(hostPairs); - - for (int i=0;i<hostPairs.size();i++) - { - hostPairs[i].z = 0xffffffff; - } - - gpuPairs.copyFromHost(hostPairs); - } - } - - m_data->m_narrowphase->computeContacts(pairs,numPairs,aabbsWS,numBodies); - numContacts = m_data->m_narrowphase->getNumContactsGpu(); - - if (gUseDbvt) - { - ///store the cached information (contact locations in the 'z' component) - B3_PROFILE("m_overlappingPairsGPU->copyToHost"); - m_data->m_overlappingPairsGPU->copyToHost(m_data->m_broadphaseDbvt->getOverlappingPairCache()->getOverlappingPairArray()); - } - if (gDumpContactStats && numContacts) - { - m_data->m_narrowphase->getContactsGpu(); - - printf("numContacts = %d\n", numContacts); - - int totalPoints = 0; - const b3Contact4* contacts = m_data->m_narrowphase->getContactsCPU(); - - for (int i=0;i<numContacts;i++) - { - totalPoints += contacts->getNPoints(); - } - printf("totalPoints=%d\n",totalPoints); - - } - } - - - //convert contact points to contact constraints - - //solve constraints - - b3OpenCLArray<b3RigidBodyData> gpuBodies(m_data->m_context,m_data->m_queue,0,true); - gpuBodies.setFromOpenCLBuffer(m_data->m_narrowphase->getBodiesGpu(),m_data->m_narrowphase->getNumRigidBodies()); - b3OpenCLArray<b3InertiaData> gpuInertias(m_data->m_context,m_data->m_queue,0,true); - gpuInertias.setFromOpenCLBuffer(m_data->m_narrowphase->getBodyInertiasGpu(),m_data->m_narrowphase->getNumRigidBodies()); - b3OpenCLArray<b3Contact4> gpuContacts(m_data->m_context,m_data->m_queue,0,true); - gpuContacts.setFromOpenCLBuffer(m_data->m_narrowphase->getContactsGpu(),m_data->m_narrowphase->getNumContactsGpu()); - - int numJoints = m_data->m_joints.size() ? m_data->m_joints.size() : m_data->m_cpuConstraints.size(); - if (useBullet2CpuSolver && numJoints) - { - - // b3AlignedObjectArray<b3Contact4> hostContacts; - //gpuContacts.copyToHost(hostContacts); - { - bool useGpu = m_data->m_joints.size()==0; - -// b3Contact4* contacts = numContacts? &hostContacts[0]: 0; - //m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,contacts,numJoints, joints); - if (useGpu) - { - m_data->m_gpuSolver->solveJoints(m_data->m_narrowphase->getNumRigidBodies(),&gpuBodies,&gpuInertias,numJoints, m_data->m_gpuConstraints); - } else - { - b3AlignedObjectArray<b3RigidBodyData> hostBodies; - gpuBodies.copyToHost(hostBodies); - b3AlignedObjectArray<b3InertiaData> hostInertias; - gpuInertias.copyToHost(hostInertias); - - b3TypedConstraint** joints = numJoints? &m_data->m_joints[0] : 0; - m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumRigidBodies(),&hostBodies[0],&hostInertias[0],0,0,numJoints, joints); - gpuBodies.copyFromHost(hostBodies); - } - } - } - - if (numContacts) - { - -#ifdef TEST_OTHER_GPU_SOLVER - - if (gUseJacobi) - { - bool useGpu = true; - if (useGpu) - { - - bool forceHost = false; - if (forceHost) - { - b3AlignedObjectArray<b3RigidBodyData> hostBodies; - b3AlignedObjectArray<b3InertiaData> hostInertias; - b3AlignedObjectArray<b3Contact4> hostContacts; - - { - B3_PROFILE("copyToHost"); - gpuBodies.copyToHost(hostBodies); - gpuInertias.copyToHost(hostInertias); - gpuContacts.copyToHost(hostContacts); - } - - { - b3JacobiSolverInfo solverInfo; - m_data->m_solver3->solveGroupHost(&hostBodies[0], &hostInertias[0], hostBodies.size(),&hostContacts[0],hostContacts.size(),solverInfo); - - - } - { - B3_PROFILE("copyFromHost"); - gpuBodies.copyFromHost(hostBodies); - } - } else - - - { - int static0Index = m_data->m_narrowphase->getStatic0Index(); - b3JacobiSolverInfo solverInfo; - //m_data->m_solver3->solveContacts( >solveGroup(&gpuBodies, &gpuInertias, &gpuContacts,solverInfo); - //m_data->m_solver3->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]); - m_data->m_solver3->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),m_data->m_config, static0Index); - } - } else - { - b3AlignedObjectArray<b3RigidBodyData> hostBodies; - gpuBodies.copyToHost(hostBodies); - b3AlignedObjectArray<b3InertiaData> hostInertias; - gpuInertias.copyToHost(hostInertias); - b3AlignedObjectArray<b3Contact4> hostContacts; - gpuContacts.copyToHost(hostContacts); - { - //m_data->m_solver->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(),&hostBodies[0],&hostInertias[0],numContacts,&hostContacts[0]); - } - gpuBodies.copyFromHost(hostBodies); - } - - } else -#endif //TEST_OTHER_GPU_SOLVER - { - - int static0Index = m_data->m_narrowphase->getStatic0Index(); - m_data->m_solver2->solveContacts(numBodies, gpuBodies.getBufferCL(),gpuInertias.getBufferCL(),numContacts, gpuContacts.getBufferCL(),m_data->m_config, static0Index); - - //m_data->m_solver4->solveContacts(m_data->m_narrowphase->getNumBodiesGpu(), gpuBodies.getBufferCL(), gpuInertias.getBufferCL(), numContacts, gpuContacts.getBufferCL()); - - - /*m_data->m_solver3->solveContactConstraintHost( - (b3OpenCLArray<RigidBodyBase::Body>*)&gpuBodies, - (b3OpenCLArray<RigidBodyBase::Inertia>*)&gpuInertias, - (b3OpenCLArray<Constraint4>*) &gpuContacts, - 0,numContacts,256); - */ - } - } - - integrate(deltaTime); - -} - - -void b3GpuRigidBodyPipeline::integrate(float timeStep) -{ - //integrate - int numBodies = m_data->m_narrowphase->getNumRigidBodies(); - float angularDamp = 0.99f; - - if (gIntegrateOnCpu) - { - if(numBodies) - { - b3GpuNarrowPhaseInternalData* npData = m_data->m_narrowphase->getInternalData(); - npData->m_bodyBufferGPU->copyToHost(*npData->m_bodyBufferCPU); - - b3RigidBodyData_t* bodies = &npData->m_bodyBufferCPU->at(0); - - for (int nodeID=0;nodeID<numBodies;nodeID++) - { - integrateSingleTransform( bodies,nodeID, timeStep, angularDamp, m_data->m_gravity); - } - npData->m_bodyBufferGPU->copyFromHost(*npData->m_bodyBufferCPU); - } - } else - { - b3LauncherCL launcher(m_data->m_queue,m_data->m_integrateTransformsKernel,"m_integrateTransformsKernel"); - launcher.setBuffer(m_data->m_narrowphase->getBodiesGpu()); - - launcher.setConst(numBodies); - launcher.setConst(timeStep); - launcher.setConst(angularDamp); - launcher.setConst(m_data->m_gravity); - launcher.launch1D(numBodies); - } -} - - - - -void b3GpuRigidBodyPipeline::setupGpuAabbsFull() -{ - cl_int ciErrNum=0; - - int numBodies = m_data->m_narrowphase->getNumRigidBodies(); - if (!numBodies) - return; - - if (gCalcWorldSpaceAabbOnCpu) - { - - if (numBodies) - { - if (gUseDbvt) - { - m_data->m_allAabbsCPU.resize(numBodies); - m_data->m_narrowphase->readbackAllBodiesToCpu(); - for (int i=0;i<numBodies;i++) - { - b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_allAabbsCPU[0]); - } - m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU); - } else - { - m_data->m_broadphaseSap->getAllAabbsCPU().resize(numBodies); - m_data->m_narrowphase->readbackAllBodiesToCpu(); - for (int i=0;i<numBodies;i++) - { - b3ComputeWorldAabb( i, m_data->m_narrowphase->getBodiesCpu(), m_data->m_narrowphase->getCollidablesCpu(), m_data->m_narrowphase->getLocalSpaceAabbsCpu(),&m_data->m_broadphaseSap->getAllAabbsCPU()[0]); - } - m_data->m_broadphaseSap->getAllAabbsGPU().copyFromHost(m_data->m_broadphaseSap->getAllAabbsCPU()); - //m_data->m_broadphaseSap->writeAabbsToGpu(); - } - } - } else - { - //__kernel void initializeGpuAabbsFull( const int numNodes, __global Body* gBodies,__global Collidable* collidables, __global b3AABBCL* plocalShapeAABB, __global b3AABBCL* pAABB) - b3LauncherCL launcher(m_data->m_queue,m_data->m_updateAabbsKernel,"m_updateAabbsKernel"); - launcher.setConst(numBodies); - cl_mem bodies = m_data->m_narrowphase->getBodiesGpu(); - launcher.setBuffer(bodies); - cl_mem collidables = m_data->m_narrowphase->getCollidablesGpu(); - launcher.setBuffer(collidables); - cl_mem localAabbs = m_data->m_narrowphase->getAabbLocalSpaceBufferGpu(); - launcher.setBuffer(localAabbs); - - cl_mem worldAabbs =0; - if (gUseDbvt) - { - worldAabbs = m_data->m_allAabbsGPU->getBufferCL(); - } else - { - worldAabbs = m_data->m_broadphaseSap->getAabbBufferWS(); - } - launcher.setBuffer(worldAabbs); - launcher.launch1D(numBodies); - - oclCHECKERROR(ciErrNum, CL_SUCCESS); - } - - /* - b3AlignedObjectArray<b3SapAabb> aabbs; - m_data->m_broadphaseSap->m_allAabbsGPU.copyToHost(aabbs); - - printf("numAabbs = %d\n", aabbs.size()); - - for (int i=0;i<aabbs.size();i++) - { - printf("aabb[%d].m_min=%f,%f,%f,%d\n",i,aabbs[i].m_minVec[0],aabbs[i].m_minVec[1],aabbs[i].m_minVec[2],aabbs[i].m_minIndices[3]); - printf("aabb[%d].m_max=%f,%f,%f,%d\n",i,aabbs[i].m_maxVec[0],aabbs[i].m_maxVec[1],aabbs[i].m_maxVec[2],aabbs[i].m_signedMaxIndices[3]); - - }; - */ - - - - - -} - - - -cl_mem b3GpuRigidBodyPipeline::getBodyBuffer() -{ - return m_data->m_narrowphase->getBodiesGpu(); -} - -int b3GpuRigidBodyPipeline::getNumBodies() const -{ - return m_data->m_narrowphase->getNumRigidBodies(); -} - -void b3GpuRigidBodyPipeline::setGravity(const float* grav) -{ - m_data->m_gravity.setValue(grav[0],grav[1],grav[2]); -} - -void b3GpuRigidBodyPipeline::copyConstraintsToHost() -{ - m_data->m_gpuConstraints->copyToHost(m_data->m_cpuConstraints); -} - -void b3GpuRigidBodyPipeline::writeAllInstancesToGpu() -{ - m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU); - m_data->m_gpuConstraints->copyFromHost(m_data->m_cpuConstraints); -} - - -int b3GpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex, bool writeInstanceToGpu) -{ - - b3Vector3 aabbMin=b3MakeVector3(0,0,0),aabbMax=b3MakeVector3(0,0,0); - - - if (collidableIndex>=0) - { - b3SapAabb localAabb = m_data->m_narrowphase->getLocalSpaceAabb(collidableIndex); - b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]); - b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]); - - b3Scalar margin = 0.01f; - b3Transform t; - t.setIdentity(); - t.setOrigin(b3MakeVector3(position[0],position[1],position[2])); - t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3])); - b3TransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax); - } else - { - b3Error("registerPhysicsInstance using invalid collidableIndex\n"); - return -1; - } - - - bool writeToGpu = false; - int bodyIndex = m_data->m_narrowphase->getNumRigidBodies(); - bodyIndex = m_data->m_narrowphase->registerRigidBody(collidableIndex,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu); - - if (bodyIndex>=0) - { - if (gUseDbvt) - { - m_data->m_broadphaseDbvt->createProxy(aabbMin,aabbMax,bodyIndex,0,1,1); - b3SapAabb aabb; - for (int i=0;i<3;i++) - { - aabb.m_min[i] = aabbMin[i]; - aabb.m_max[i] = aabbMax[i]; - aabb.m_minIndices[3] = bodyIndex; - } - m_data->m_allAabbsCPU.push_back(aabb); - if (writeInstanceToGpu) - { - m_data->m_allAabbsGPU->copyFromHost(m_data->m_allAabbsCPU); - } - } else - { - if (mass) - { - m_data->m_broadphaseSap->createProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher); - } else - { - m_data->m_broadphaseSap->createLargeProxy(aabbMin,aabbMax,bodyIndex,1,1);//m_dispatcher); - } - } - } - - /* - if (mass>0.f) - m_numDynamicPhysicsInstances++; - - m_numPhysicsInstances++; - */ - - return bodyIndex; -} - -void b3GpuRigidBodyPipeline::castRays(const b3AlignedObjectArray<b3RayInfo>& rays, b3AlignedObjectArray<b3RayHit>& hitResults) -{ - this->m_data->m_raycaster->castRays(rays,hitResults, - getNumBodies(),this->m_data->m_narrowphase->getBodiesCpu(), - m_data->m_narrowphase->getNumCollidablesGpu(), m_data->m_narrowphase->getCollidablesCpu(), - m_data->m_narrowphase->getInternalData(), m_data->m_broadphaseSap); -} |