1299 lines
38 KiB
C++
1299 lines
38 KiB
C++
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bool searchIncremental3dSapOnGpu = true;
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#include <limits.h>
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#include "b3GpuSapBroadphase.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3PrefixScanFloat4CL.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "kernels/sapKernels.h"
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#include "Bullet3Common/b3MinMax.h"
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#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
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/*
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b3OpenCLArray<int> m_pairCount;
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b3OpenCLArray<b3SapAabb> m_allAabbsGPU;
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b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU;
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virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU()
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{
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return m_allAabbsGPU;
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}
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virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU()
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{
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return m_allAabbsCPU;
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}
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b3OpenCLArray<b3Vector3> m_sum;
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b3OpenCLArray<b3Vector3> m_sum2;
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b3OpenCLArray<b3Vector3> m_dst;
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b3OpenCLArray<int> m_smallAabbsMappingGPU;
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b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
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b3OpenCLArray<int> m_largeAabbsMappingGPU;
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b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
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b3OpenCLArray<b3Int4> m_overlappingPairs;
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//temporary gpu work memory
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b3OpenCLArray<b3SortData> m_gpuSmallSortData;
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b3OpenCLArray<b3SapAabb> m_gpuSmallSortedAabbs;
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class b3PrefixScanFloat4CL* m_prefixScanFloat4;
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*/
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b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType)
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: m_context(ctx),
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m_device(device),
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m_queue(q),
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m_objectMinMaxIndexGPUaxis0(ctx, q),
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m_objectMinMaxIndexGPUaxis1(ctx, q),
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m_objectMinMaxIndexGPUaxis2(ctx, q),
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m_objectMinMaxIndexGPUaxis0prev(ctx, q),
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m_objectMinMaxIndexGPUaxis1prev(ctx, q),
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m_objectMinMaxIndexGPUaxis2prev(ctx, q),
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m_sortedAxisGPU0(ctx, q),
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m_sortedAxisGPU1(ctx, q),
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m_sortedAxisGPU2(ctx, q),
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m_sortedAxisGPU0prev(ctx, q),
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m_sortedAxisGPU1prev(ctx, q),
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m_sortedAxisGPU2prev(ctx, q),
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m_addedHostPairsGPU(ctx, q),
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m_removedHostPairsGPU(ctx, q),
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m_addedCountGPU(ctx, q),
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m_removedCountGPU(ctx, q),
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m_currentBuffer(-1),
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m_pairCount(ctx, q),
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m_allAabbsGPU(ctx, q),
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m_sum(ctx, q),
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m_sum2(ctx, q),
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m_dst(ctx, q),
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m_smallAabbsMappingGPU(ctx, q),
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m_largeAabbsMappingGPU(ctx, q),
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m_overlappingPairs(ctx, q),
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m_gpuSmallSortData(ctx, q),
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m_gpuSmallSortedAabbs(ctx, q)
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{
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const char* sapSrc = sapCL;
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cl_int errNum = 0;
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b3Assert(m_context);
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b3Assert(m_device);
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cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, sapSrc, &errNum, "", B3_BROADPHASE_SAP_PATH);
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b3Assert(errNum == CL_SUCCESS);
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b3Assert(errNum == CL_SUCCESS);
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#ifndef __APPLE__
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m_prefixScanFloat4 = new b3PrefixScanFloat4CL(m_context, m_device, m_queue);
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#else
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m_prefixScanFloat4 = 0;
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#endif
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m_sapKernel = 0;
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switch (kernelType)
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{
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case B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU:
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{
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m_sapKernel = 0;
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break;
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}
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case B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU:
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{
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m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBruteForce", &errNum, sapProg);
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break;
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}
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case B3_GPU_SAP_KERNEL_ORIGINAL:
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{
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m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelOriginal", &errNum, sapProg);
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break;
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}
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case B3_GPU_SAP_KERNEL_BARRIER:
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{
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m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelBarrier", &errNum, sapProg);
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break;
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}
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case B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY:
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{
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m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
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break;
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}
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default:
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{
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m_sapKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelLocalSharedMemory", &errNum, sapProg);
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b3Error("Unknown 3D GPU SAP provided, fallback to computePairsKernelLocalSharedMemory");
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}
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};
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m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "computePairsKernelTwoArrays", &errNum, sapProg);
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b3Assert(errNum == CL_SUCCESS);
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m_prepareSumVarianceKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "prepareSumVarianceKernel", &errNum, sapProg);
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b3Assert(errNum == CL_SUCCESS);
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m_flipFloatKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "flipFloatKernel", &errNum, sapProg);
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m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
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m_scatterKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "scatterKernel", &errNum, sapProg);
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m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
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}
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b3GpuSapBroadphase::~b3GpuSapBroadphase()
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{
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delete m_sorter;
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delete m_prefixScanFloat4;
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clReleaseKernel(m_scatterKernel);
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clReleaseKernel(m_flipFloatKernel);
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clReleaseKernel(m_copyAabbsKernel);
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clReleaseKernel(m_sapKernel);
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clReleaseKernel(m_sap2Kernel);
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clReleaseKernel(m_prepareSumVarianceKernel);
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}
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/// conservative test for overlap between two aabbs
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static bool TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
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const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
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{
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bool overlap = true;
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overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
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overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
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overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
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return overlap;
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}
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//http://stereopsis.com/radix.html
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static unsigned int FloatFlip(float fl)
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{
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unsigned int f = *(unsigned int*)&fl;
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unsigned int mask = -(int)(f >> 31) | 0x80000000;
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return f ^ mask;
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};
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void b3GpuSapBroadphase::init3dSap()
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{
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if (m_currentBuffer < 0)
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{
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m_allAabbsGPU.copyToHost(m_allAabbsCPU);
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m_currentBuffer = 0;
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for (int axis = 0; axis < 3; axis++)
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{
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for (int buf = 0; buf < 2; buf++)
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{
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int totalNumAabbs = m_allAabbsCPU.size();
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int numEndPoints = 2 * totalNumAabbs;
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m_sortedAxisCPU[axis][buf].resize(numEndPoints);
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if (buf == m_currentBuffer)
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{
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for (int i = 0; i < totalNumAabbs; i++)
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{
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m_sortedAxisCPU[axis][buf][i * 2].m_key = FloatFlip(m_allAabbsCPU[i].m_min[axis]) - 1;
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m_sortedAxisCPU[axis][buf][i * 2].m_value = i * 2;
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m_sortedAxisCPU[axis][buf][i * 2 + 1].m_key = FloatFlip(m_allAabbsCPU[i].m_max[axis]) + 1;
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m_sortedAxisCPU[axis][buf][i * 2 + 1].m_value = i * 2 + 1;
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}
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}
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}
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}
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for (int axis = 0; axis < 3; axis++)
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{
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m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
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}
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for (int axis = 0; axis < 3; axis++)
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{
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//int totalNumAabbs = m_allAabbsCPU.size();
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int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
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m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(numEndPoints);
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for (int i = 0; i < numEndPoints; i++)
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{
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int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
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int newDest = destIndex / 2;
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if (destIndex & 1)
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{
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m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i;
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}
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else
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{
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m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i;
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}
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}
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}
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}
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}
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static bool b3PairCmp(const b3Int4& p, const b3Int4& q)
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{
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return ((p.x < q.x) || ((p.x == q.x) && (p.y < q.y)));
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}
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static bool operator==(const b3Int4& a, const b3Int4& b)
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{
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return a.x == b.x && a.y == b.y;
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};
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static bool operator<(const b3Int4& a, const b3Int4& b)
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{
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return a.x < b.x || (a.x == b.x && a.y < b.y);
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};
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static bool operator>(const b3Int4& a, const b3Int4& b)
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{
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return a.x > b.x || (a.x == b.x && a.y > b.y);
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};
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b3AlignedObjectArray<b3Int4> addedHostPairs;
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b3AlignedObjectArray<b3Int4> removedHostPairs;
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b3AlignedObjectArray<b3SapAabb> preAabbs;
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void b3GpuSapBroadphase::calculateOverlappingPairsHostIncremental3Sap()
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{
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//static int framepje = 0;
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//printf("framepje=%d\n",framepje++);
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B3_PROFILE("calculateOverlappingPairsHostIncremental3Sap");
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addedHostPairs.resize(0);
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removedHostPairs.resize(0);
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b3Assert(m_currentBuffer >= 0);
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{
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preAabbs.resize(m_allAabbsCPU.size());
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for (int i = 0; i < preAabbs.size(); i++)
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{
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preAabbs[i] = m_allAabbsCPU[i];
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}
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}
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if (m_currentBuffer < 0)
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return;
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{
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B3_PROFILE("m_allAabbsGPU.copyToHost");
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m_allAabbsGPU.copyToHost(m_allAabbsCPU);
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}
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b3AlignedObjectArray<b3Int4> allPairs;
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{
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B3_PROFILE("m_overlappingPairs.copyToHost");
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m_overlappingPairs.copyToHost(allPairs);
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}
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if (0)
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{
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{
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printf("ab[40].min=%f,%f,%f,ab[40].max=%f,%f,%f\n",
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m_allAabbsCPU[40].m_min[0], m_allAabbsCPU[40].m_min[1], m_allAabbsCPU[40].m_min[2],
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m_allAabbsCPU[40].m_max[0], m_allAabbsCPU[40].m_max[1], m_allAabbsCPU[40].m_max[2]);
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}
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{
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printf("ab[53].min=%f,%f,%f,ab[53].max=%f,%f,%f\n",
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m_allAabbsCPU[53].m_min[0], m_allAabbsCPU[53].m_min[1], m_allAabbsCPU[53].m_min[2],
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m_allAabbsCPU[53].m_max[0], m_allAabbsCPU[53].m_max[1], m_allAabbsCPU[53].m_max[2]);
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}
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{
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b3Int4 newPair;
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newPair.x = 40;
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newPair.y = 53;
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int index = allPairs.findBinarySearch(newPair);
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printf("hasPair(40,53)=%d out of %d\n", index, allPairs.size());
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{
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int overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[40].m_min, (const b3Vector3&)m_allAabbsCPU[40].m_max, (const b3Vector3&)m_allAabbsCPU[53].m_min, (const b3Vector3&)m_allAabbsCPU[53].m_max);
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printf("overlap=%d\n", overlap);
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}
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if (preAabbs.size())
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{
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int prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[40].m_min, (const b3Vector3&)preAabbs[40].m_max, (const b3Vector3&)preAabbs[53].m_min, (const b3Vector3&)preAabbs[53].m_max);
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printf("prevoverlap=%d\n", prevOverlap);
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}
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else
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{
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printf("unknown prevoverlap\n");
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}
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}
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}
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if (0)
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{
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for (int i = 0; i < m_allAabbsCPU.size(); i++)
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{
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//printf("aabb[%d] min=%f,%f,%f max=%f,%f,%f\n",i,m_allAabbsCPU[i].m_min[0],m_allAabbsCPU[i].m_min[1],m_allAabbsCPU[i].m_min[2], m_allAabbsCPU[i].m_max[0],m_allAabbsCPU[i].m_max[1],m_allAabbsCPU[i].m_max[2]);
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}
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for (int axis = 0; axis < 3; axis++)
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{
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for (int buf = 0; buf < 2; buf++)
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{
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b3Assert(m_sortedAxisCPU[axis][buf].size() == m_allAabbsCPU.size() * 2);
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}
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}
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}
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m_currentBuffer = 1 - m_currentBuffer;
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int totalNumAabbs = m_allAabbsCPU.size();
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{
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B3_PROFILE("assign m_sortedAxisCPU(FloatFlip)");
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for (int i = 0; i < totalNumAabbs; i++)
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{
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unsigned int keyMin[3];
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unsigned int keyMax[3];
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for (int axis = 0; axis < 3; axis++)
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{
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float vmin = m_allAabbsCPU[i].m_min[axis];
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float vmax = m_allAabbsCPU[i].m_max[axis];
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keyMin[axis] = FloatFlip(vmin);
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keyMax[axis] = FloatFlip(vmax);
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m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_key = keyMin[axis] - 1;
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m_sortedAxisCPU[axis][m_currentBuffer][i * 2].m_value = i * 2;
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m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_key = keyMax[axis] + 1;
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m_sortedAxisCPU[axis][m_currentBuffer][i * 2 + 1].m_value = i * 2 + 1;
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}
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//printf("aabb[%d] min=%u,%u,%u max %u,%u,%u\n", i,keyMin[0],keyMin[1],keyMin[2],keyMax[0],keyMax[1],keyMax[2]);
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}
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}
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{
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B3_PROFILE("sort m_sortedAxisCPU");
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for (int axis = 0; axis < 3; axis++)
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m_sorter->executeHost(m_sortedAxisCPU[axis][m_currentBuffer]);
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}
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#if 0
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if (0)
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{
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for (int axis=0;axis<3;axis++)
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{
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//printf("axis %d\n",axis);
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for (int i=0;i<m_sortedAxisCPU[axis][m_currentBuffer].size();i++)
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{
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//int key = m_sortedAxisCPU[axis][m_currentBuffer][i].m_key;
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//int value = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
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//printf("[%d]=%d\n",i,value);
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}
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}
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}
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#endif
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{
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B3_PROFILE("assign m_objectMinMaxIndexCPU");
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for (int axis = 0; axis < 3; axis++)
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{
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int totalNumAabbs = m_allAabbsCPU.size();
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int numEndPoints = m_sortedAxisCPU[axis][m_currentBuffer].size();
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m_objectMinMaxIndexCPU[axis][m_currentBuffer].resize(totalNumAabbs);
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for (int i = 0; i < numEndPoints; i++)
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{
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int destIndex = m_sortedAxisCPU[axis][m_currentBuffer][i].m_value;
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int newDest = destIndex / 2;
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if (destIndex & 1)
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{
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m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].y = i;
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}
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else
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{
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m_objectMinMaxIndexCPU[axis][m_currentBuffer][newDest].x = i;
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}
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}
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}
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}
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#if 0
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if (0)
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{
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printf("==========================\n");
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for (int axis=0;axis<3;axis++)
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{
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unsigned int curMinIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].x;
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unsigned int curMaxIndex40 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][40].y;
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unsigned int prevMaxIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].y;
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unsigned int prevMinIndex40 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][40].x;
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int dmin40 = curMinIndex40 - prevMinIndex40;
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int dmax40 = curMinIndex40 - prevMinIndex40;
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printf("axis %d curMinIndex40=%d prevMinIndex40=%d\n",axis,curMinIndex40, prevMinIndex40);
|
|
printf("axis %d curMaxIndex40=%d prevMaxIndex40=%d\n",axis,curMaxIndex40, prevMaxIndex40);
|
|
}
|
|
printf(".........................\n");
|
|
for (int axis=0;axis<3;axis++)
|
|
{
|
|
unsigned int curMinIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].x;
|
|
unsigned int curMaxIndex53 = m_objectMinMaxIndexCPU[axis][m_currentBuffer][53].y;
|
|
unsigned int prevMaxIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].y;
|
|
unsigned int prevMinIndex53 = m_objectMinMaxIndexCPU[axis][1-m_currentBuffer][53].x;
|
|
|
|
int dmin40 = curMinIndex53 - prevMinIndex53;
|
|
int dmax40 = curMinIndex53 - prevMinIndex53;
|
|
printf("axis %d curMinIndex53=%d prevMinIndex53=%d\n",axis,curMinIndex53, prevMinIndex53);
|
|
printf("axis %d curMaxIndex53=%d prevMaxIndex53=%d\n",axis,curMaxIndex53, prevMaxIndex53);
|
|
}
|
|
|
|
}
|
|
#endif
|
|
|
|
int a = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
|
|
int b = m_objectMinMaxIndexCPU[1][m_currentBuffer].size();
|
|
int c = m_objectMinMaxIndexCPU[2][m_currentBuffer].size();
|
|
b3Assert(a == b);
|
|
b3Assert(b == c);
|
|
/*
|
|
if (searchIncremental3dSapOnGpu)
|
|
{
|
|
B3_PROFILE("computePairsIncremental3dSapKernelGPU");
|
|
int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
|
|
int maxCapacity = 1024*1024;
|
|
{
|
|
B3_PROFILE("copy from host");
|
|
m_objectMinMaxIndexGPUaxis0.copyFromHost(m_objectMinMaxIndexCPU[0][m_currentBuffer]);
|
|
m_objectMinMaxIndexGPUaxis1.copyFromHost(m_objectMinMaxIndexCPU[1][m_currentBuffer]);
|
|
m_objectMinMaxIndexGPUaxis2.copyFromHost(m_objectMinMaxIndexCPU[2][m_currentBuffer]);
|
|
m_objectMinMaxIndexGPUaxis0prev.copyFromHost(m_objectMinMaxIndexCPU[0][1-m_currentBuffer]);
|
|
m_objectMinMaxIndexGPUaxis1prev.copyFromHost(m_objectMinMaxIndexCPU[1][1-m_currentBuffer]);
|
|
m_objectMinMaxIndexGPUaxis2prev.copyFromHost(m_objectMinMaxIndexCPU[2][1-m_currentBuffer]);
|
|
|
|
m_sortedAxisGPU0.copyFromHost(m_sortedAxisCPU[0][m_currentBuffer]);
|
|
m_sortedAxisGPU1.copyFromHost(m_sortedAxisCPU[1][m_currentBuffer]);
|
|
m_sortedAxisGPU2.copyFromHost(m_sortedAxisCPU[2][m_currentBuffer]);
|
|
m_sortedAxisGPU0prev.copyFromHost(m_sortedAxisCPU[0][1-m_currentBuffer]);
|
|
m_sortedAxisGPU1prev.copyFromHost(m_sortedAxisCPU[1][1-m_currentBuffer]);
|
|
m_sortedAxisGPU2prev.copyFromHost(m_sortedAxisCPU[2][1-m_currentBuffer]);
|
|
|
|
|
|
m_addedHostPairsGPU.resize(maxCapacity);
|
|
m_removedHostPairsGPU.resize(maxCapacity);
|
|
|
|
m_addedCountGPU.resize(0);
|
|
m_addedCountGPU.push_back(0);
|
|
m_removedCountGPU.resize(0);
|
|
m_removedCountGPU.push_back(0);
|
|
}
|
|
|
|
{
|
|
B3_PROFILE("launch1D");
|
|
b3LauncherCL launcher(m_queue, m_computePairsIncremental3dSapKernel,"m_computePairsIncremental3dSapKernel");
|
|
launcher.setBuffer(m_objectMinMaxIndexGPUaxis0.getBufferCL());
|
|
launcher.setBuffer(m_objectMinMaxIndexGPUaxis1.getBufferCL());
|
|
launcher.setBuffer(m_objectMinMaxIndexGPUaxis2.getBufferCL());
|
|
launcher.setBuffer(m_objectMinMaxIndexGPUaxis0prev.getBufferCL());
|
|
launcher.setBuffer(m_objectMinMaxIndexGPUaxis1prev.getBufferCL());
|
|
launcher.setBuffer(m_objectMinMaxIndexGPUaxis2prev.getBufferCL());
|
|
|
|
launcher.setBuffer(m_sortedAxisGPU0.getBufferCL());
|
|
launcher.setBuffer(m_sortedAxisGPU1.getBufferCL());
|
|
launcher.setBuffer(m_sortedAxisGPU2.getBufferCL());
|
|
launcher.setBuffer(m_sortedAxisGPU0prev.getBufferCL());
|
|
launcher.setBuffer(m_sortedAxisGPU1prev.getBufferCL());
|
|
launcher.setBuffer(m_sortedAxisGPU2prev.getBufferCL());
|
|
|
|
|
|
launcher.setBuffer(m_addedHostPairsGPU.getBufferCL());
|
|
launcher.setBuffer(m_removedHostPairsGPU.getBufferCL());
|
|
launcher.setBuffer(m_addedCountGPU.getBufferCL());
|
|
launcher.setBuffer(m_removedCountGPU.getBufferCL());
|
|
launcher.setConst(maxCapacity);
|
|
launcher.setConst( numObjects);
|
|
launcher.launch1D( numObjects);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
{
|
|
B3_PROFILE("copy to host");
|
|
int addedCountGPU = m_addedCountGPU.at(0);
|
|
m_addedHostPairsGPU.resize(addedCountGPU);
|
|
m_addedHostPairsGPU.copyToHost(addedHostPairs);
|
|
|
|
//printf("addedCountGPU=%d\n",addedCountGPU);
|
|
int removedCountGPU = m_removedCountGPU.at(0);
|
|
m_removedHostPairsGPU.resize(removedCountGPU);
|
|
m_removedHostPairsGPU.copyToHost(removedHostPairs);
|
|
//printf("removedCountGPU=%d\n",removedCountGPU);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
else
|
|
*/
|
|
{
|
|
int numObjects = m_objectMinMaxIndexCPU[0][m_currentBuffer].size();
|
|
|
|
B3_PROFILE("actual search");
|
|
for (int i = 0; i < numObjects; i++)
|
|
{
|
|
//int numObjects = m_objectMinMaxIndexCPU[axis][m_currentBuffer].size();
|
|
//int checkObjects[]={40,53};
|
|
//int numCheckObjects = sizeof(checkObjects)/sizeof(int);
|
|
|
|
//for (int a=0;a<numCheckObjects ;a++)
|
|
|
|
for (int axis = 0; axis < 3; axis++)
|
|
{
|
|
//int i = checkObjects[a];
|
|
|
|
unsigned int curMinIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].x;
|
|
unsigned int curMaxIndex = m_objectMinMaxIndexCPU[axis][m_currentBuffer][i].y;
|
|
unsigned int prevMinIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].x;
|
|
int dmin = curMinIndex - prevMinIndex;
|
|
|
|
unsigned int prevMaxIndex = m_objectMinMaxIndexCPU[axis][1 - m_currentBuffer][i].y;
|
|
|
|
int dmax = curMaxIndex - prevMaxIndex;
|
|
if (dmin != 0)
|
|
{
|
|
//printf("for object %d, dmin=%d\n",i,dmin);
|
|
}
|
|
if (dmax != 0)
|
|
{
|
|
//printf("for object %d, dmax=%d\n",i,dmax);
|
|
}
|
|
for (int otherbuffer = 0; otherbuffer < 2; otherbuffer++)
|
|
{
|
|
if (dmin != 0)
|
|
{
|
|
int stepMin = dmin < 0 ? -1 : 1;
|
|
for (int j = prevMinIndex; j != curMinIndex; j += stepMin)
|
|
{
|
|
int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
|
|
int otherIndex = otherIndex2 / 2;
|
|
if (otherIndex != i)
|
|
{
|
|
bool otherIsMax = ((otherIndex2 & 1) != 0);
|
|
|
|
if (otherIsMax)
|
|
{
|
|
//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
|
|
//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
|
|
|
|
bool overlap = true;
|
|
|
|
for (int ax = 0; ax < 3; ax++)
|
|
{
|
|
if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
|
|
(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
|
|
overlap = false;
|
|
}
|
|
|
|
// b3Assert(overlap2==overlap);
|
|
|
|
bool prevOverlap = true;
|
|
|
|
for (int ax = 0; ax < 3; ax++)
|
|
{
|
|
if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) ||
|
|
(m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x))
|
|
prevOverlap = false;
|
|
}
|
|
|
|
//b3Assert(overlap==overlap2);
|
|
|
|
if (dmin < 0)
|
|
{
|
|
if (overlap && !prevOverlap)
|
|
{
|
|
//add a pair
|
|
b3Int4 newPair;
|
|
if (i <= otherIndex)
|
|
{
|
|
newPair.x = i;
|
|
newPair.y = otherIndex;
|
|
}
|
|
else
|
|
{
|
|
newPair.x = otherIndex;
|
|
newPair.y = i;
|
|
}
|
|
addedHostPairs.push_back(newPair);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (!overlap && prevOverlap)
|
|
{
|
|
//remove a pair
|
|
b3Int4 removedPair;
|
|
if (i <= otherIndex)
|
|
{
|
|
removedPair.x = i;
|
|
removedPair.y = otherIndex;
|
|
}
|
|
else
|
|
{
|
|
removedPair.x = otherIndex;
|
|
removedPair.y = i;
|
|
}
|
|
removedHostPairs.push_back(removedPair);
|
|
}
|
|
} //otherisMax
|
|
} //if (dmin<0)
|
|
} //if (otherIndex!=i)
|
|
} //for (int j=
|
|
}
|
|
|
|
if (dmax != 0)
|
|
{
|
|
int stepMax = dmax < 0 ? -1 : 1;
|
|
for (int j = prevMaxIndex; j != curMaxIndex; j += stepMax)
|
|
{
|
|
int otherIndex2 = m_sortedAxisCPU[axis][otherbuffer][j].y;
|
|
int otherIndex = otherIndex2 / 2;
|
|
if (otherIndex != i)
|
|
{
|
|
//bool otherIsMin = ((otherIndex2&1)==0);
|
|
//if (otherIsMin)
|
|
{
|
|
//bool overlap = TestAabbAgainstAabb2((const b3Vector3&)m_allAabbsCPU[i].m_min, (const b3Vector3&)m_allAabbsCPU[i].m_max,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_min,(const b3Vector3&)m_allAabbsCPU[otherIndex].m_max);
|
|
//bool prevOverlap = TestAabbAgainstAabb2((const b3Vector3&)preAabbs[i].m_min, (const b3Vector3&)preAabbs[i].m_max,(const b3Vector3&)preAabbs[otherIndex].m_min,(const b3Vector3&)preAabbs[otherIndex].m_max);
|
|
|
|
bool overlap = true;
|
|
|
|
for (int ax = 0; ax < 3; ax++)
|
|
{
|
|
if ((m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].y) ||
|
|
(m_objectMinMaxIndexCPU[ax][m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][m_currentBuffer][otherIndex].x))
|
|
overlap = false;
|
|
}
|
|
//b3Assert(overlap2==overlap);
|
|
|
|
bool prevOverlap = true;
|
|
|
|
for (int ax = 0; ax < 3; ax++)
|
|
{
|
|
if ((m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].x > m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].y) ||
|
|
(m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][i].y < m_objectMinMaxIndexCPU[ax][1 - m_currentBuffer][otherIndex].x))
|
|
prevOverlap = false;
|
|
}
|
|
|
|
if (dmax > 0)
|
|
{
|
|
if (overlap && !prevOverlap)
|
|
{
|
|
//add a pair
|
|
b3Int4 newPair;
|
|
if (i <= otherIndex)
|
|
{
|
|
newPair.x = i;
|
|
newPair.y = otherIndex;
|
|
}
|
|
else
|
|
{
|
|
newPair.x = otherIndex;
|
|
newPair.y = i;
|
|
}
|
|
addedHostPairs.push_back(newPair);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (!overlap && prevOverlap)
|
|
{
|
|
//if (otherIndex2&1==0) -> min?
|
|
//remove a pair
|
|
b3Int4 removedPair;
|
|
if (i <= otherIndex)
|
|
{
|
|
removedPair.x = i;
|
|
removedPair.y = otherIndex;
|
|
}
|
|
else
|
|
{
|
|
removedPair.x = otherIndex;
|
|
removedPair.y = i;
|
|
}
|
|
removedHostPairs.push_back(removedPair);
|
|
}
|
|
}
|
|
|
|
} //if (dmin<0)
|
|
} //if (otherIndex!=i)
|
|
} //for (int j=
|
|
}
|
|
} //for (int otherbuffer
|
|
} //for (int axis=0;
|
|
} //for (int i=0;i<numObjects
|
|
}
|
|
|
|
//remove duplicates and add/remove then to existing m_overlappingPairs
|
|
|
|
{
|
|
{
|
|
B3_PROFILE("sort allPairs");
|
|
allPairs.quickSort(b3PairCmp);
|
|
}
|
|
{
|
|
B3_PROFILE("sort addedHostPairs");
|
|
addedHostPairs.quickSort(b3PairCmp);
|
|
}
|
|
{
|
|
B3_PROFILE("sort removedHostPairs");
|
|
removedHostPairs.quickSort(b3PairCmp);
|
|
}
|
|
}
|
|
|
|
b3Int4 prevPair;
|
|
prevPair.x = -1;
|
|
prevPair.y = -1;
|
|
|
|
int uniqueRemovedPairs = 0;
|
|
|
|
b3AlignedObjectArray<int> removedPositions;
|
|
|
|
{
|
|
B3_PROFILE("actual removing");
|
|
for (int i = 0; i < removedHostPairs.size(); i++)
|
|
{
|
|
b3Int4 removedPair = removedHostPairs[i];
|
|
if ((removedPair.x != prevPair.x) || (removedPair.y != prevPair.y))
|
|
{
|
|
int index1 = allPairs.findBinarySearch(removedPair);
|
|
|
|
//#ifdef _DEBUG
|
|
|
|
int index2 = allPairs.findLinearSearch(removedPair);
|
|
b3Assert(index1 == index2);
|
|
|
|
//b3Assert(index1!=allPairs.size());
|
|
if (index1 < allPairs.size())
|
|
//#endif//_DEBUG
|
|
{
|
|
uniqueRemovedPairs++;
|
|
removedPositions.push_back(index1);
|
|
{
|
|
//printf("framepje(%d) remove pair(%d):%d,%d\n",framepje,i,removedPair.x,removedPair.y);
|
|
}
|
|
}
|
|
}
|
|
prevPair = removedPair;
|
|
}
|
|
|
|
if (uniqueRemovedPairs)
|
|
{
|
|
for (int i = 0; i < removedPositions.size(); i++)
|
|
{
|
|
allPairs[removedPositions[i]].x = INT_MAX;
|
|
allPairs[removedPositions[i]].y = INT_MAX;
|
|
}
|
|
allPairs.quickSort(b3PairCmp);
|
|
allPairs.resize(allPairs.size() - uniqueRemovedPairs);
|
|
}
|
|
}
|
|
//if (uniqueRemovedPairs)
|
|
// printf("uniqueRemovedPairs=%d\n",uniqueRemovedPairs);
|
|
//printf("removedHostPairs.size = %d\n",removedHostPairs.size());
|
|
|
|
prevPair.x = -1;
|
|
prevPair.y = -1;
|
|
|
|
int uniqueAddedPairs = 0;
|
|
b3AlignedObjectArray<b3Int4> actualAddedPairs;
|
|
|
|
{
|
|
B3_PROFILE("actual adding");
|
|
for (int i = 0; i < addedHostPairs.size(); i++)
|
|
{
|
|
b3Int4 newPair = addedHostPairs[i];
|
|
if ((newPair.x != prevPair.x) || (newPair.y != prevPair.y))
|
|
{
|
|
//#ifdef _DEBUG
|
|
int index1 = allPairs.findBinarySearch(newPair);
|
|
|
|
int index2 = allPairs.findLinearSearch(newPair);
|
|
b3Assert(index1 == index2);
|
|
|
|
b3Assert(index1 == allPairs.size());
|
|
if (index1 != allPairs.size())
|
|
{
|
|
printf("??\n");
|
|
}
|
|
|
|
if (index1 == allPairs.size())
|
|
//#endif //_DEBUG
|
|
{
|
|
uniqueAddedPairs++;
|
|
actualAddedPairs.push_back(newPair);
|
|
}
|
|
}
|
|
prevPair = newPair;
|
|
}
|
|
for (int i = 0; i < actualAddedPairs.size(); i++)
|
|
{
|
|
//printf("framepje (%d), new pair(%d):%d,%d\n",framepje,i,actualAddedPairs[i].x,actualAddedPairs[i].y);
|
|
allPairs.push_back(actualAddedPairs[i]);
|
|
}
|
|
}
|
|
|
|
//if (uniqueAddedPairs)
|
|
// printf("uniqueAddedPairs=%d\n", uniqueAddedPairs);
|
|
|
|
{
|
|
B3_PROFILE("m_overlappingPairs.copyFromHost");
|
|
m_overlappingPairs.copyFromHost(allPairs);
|
|
}
|
|
}
|
|
|
|
void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
|
|
{
|
|
//test
|
|
// if (m_currentBuffer>=0)
|
|
// return calculateOverlappingPairsHostIncremental3Sap();
|
|
|
|
b3Assert(m_allAabbsCPU.size() == m_allAabbsGPU.size());
|
|
m_allAabbsGPU.copyToHost(m_allAabbsCPU);
|
|
|
|
int axis = 0;
|
|
{
|
|
B3_PROFILE("CPU compute best variance axis");
|
|
b3Vector3 s = b3MakeVector3(0, 0, 0), s2 = b3MakeVector3(0, 0, 0);
|
|
int numRigidBodies = m_smallAabbsMappingCPU.size();
|
|
|
|
for (int i = 0; i < numRigidBodies; i++)
|
|
{
|
|
b3SapAabb aabb = this->m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
|
|
|
|
b3Vector3 maxAabb = b3MakeVector3(aabb.m_max[0], aabb.m_max[1], aabb.m_max[2]);
|
|
b3Vector3 minAabb = b3MakeVector3(aabb.m_min[0], aabb.m_min[1], aabb.m_min[2]);
|
|
b3Vector3 centerAabb = (maxAabb + minAabb) * 0.5f;
|
|
|
|
s += centerAabb;
|
|
s2 += centerAabb * centerAabb;
|
|
}
|
|
b3Vector3 v = s2 - (s * s) / (float)numRigidBodies;
|
|
|
|
if (v[1] > v[0])
|
|
axis = 1;
|
|
if (v[2] > v[axis])
|
|
axis = 2;
|
|
}
|
|
|
|
b3AlignedObjectArray<b3Int4> hostPairs;
|
|
|
|
{
|
|
int numSmallAabbs = m_smallAabbsMappingCPU.size();
|
|
for (int i = 0; i < numSmallAabbs; i++)
|
|
{
|
|
b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
|
|
//float reference = smallAabbi.m_max[axis];
|
|
|
|
for (int j = i + 1; j < numSmallAabbs; j++)
|
|
{
|
|
b3SapAabb smallAabbj = m_allAabbsCPU[m_smallAabbsMappingCPU[j]];
|
|
|
|
if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
|
|
(b3Vector3&)smallAabbj.m_min, (b3Vector3&)smallAabbj.m_max))
|
|
{
|
|
b3Int4 pair;
|
|
int a = smallAabbi.m_minIndices[3];
|
|
int b = smallAabbj.m_minIndices[3];
|
|
if (a <= b)
|
|
{
|
|
pair.x = a; //store the original index in the unsorted aabb array
|
|
pair.y = b;
|
|
}
|
|
else
|
|
{
|
|
pair.x = b; //store the original index in the unsorted aabb array
|
|
pair.y = a;
|
|
}
|
|
hostPairs.push_back(pair);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
int numSmallAabbs = m_smallAabbsMappingCPU.size();
|
|
for (int i = 0; i < numSmallAabbs; i++)
|
|
{
|
|
b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
|
|
|
|
//float reference = smallAabbi.m_max[axis];
|
|
int numLargeAabbs = m_largeAabbsMappingCPU.size();
|
|
|
|
for (int j = 0; j < numLargeAabbs; j++)
|
|
{
|
|
b3SapAabb largeAabbj = m_allAabbsCPU[m_largeAabbsMappingCPU[j]];
|
|
if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
|
|
(b3Vector3&)largeAabbj.m_min, (b3Vector3&)largeAabbj.m_max))
|
|
{
|
|
b3Int4 pair;
|
|
int a = largeAabbj.m_minIndices[3];
|
|
int b = smallAabbi.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
|
|
}
|
|
|
|
hostPairs.push_back(pair);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (hostPairs.size() > maxPairs)
|
|
{
|
|
hostPairs.resize(maxPairs);
|
|
}
|
|
|
|
if (hostPairs.size())
|
|
{
|
|
m_overlappingPairs.copyFromHost(hostPairs);
|
|
}
|
|
else
|
|
{
|
|
m_overlappingPairs.resize(0);
|
|
}
|
|
|
|
//init3dSap();
|
|
}
|
|
|
|
void b3GpuSapBroadphase::reset()
|
|
{
|
|
m_allAabbsGPU.resize(0);
|
|
m_allAabbsCPU.resize(0);
|
|
|
|
m_smallAabbsMappingGPU.resize(0);
|
|
m_smallAabbsMappingCPU.resize(0);
|
|
|
|
m_pairCount.resize(0);
|
|
|
|
m_largeAabbsMappingGPU.resize(0);
|
|
m_largeAabbsMappingCPU.resize(0);
|
|
}
|
|
|
|
void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
|
|
{
|
|
if (m_sapKernel == 0)
|
|
{
|
|
calculateOverlappingPairsHost(maxPairs);
|
|
return;
|
|
}
|
|
|
|
//if (m_currentBuffer>=0)
|
|
// return calculateOverlappingPairsHostIncremental3Sap();
|
|
|
|
//calculateOverlappingPairsHost(maxPairs);
|
|
|
|
B3_PROFILE("GPU 1-axis SAP calculateOverlappingPairs");
|
|
|
|
int axis = 0;
|
|
|
|
{
|
|
//bool syncOnHost = false;
|
|
|
|
int numSmallAabbs = m_smallAabbsMappingCPU.size();
|
|
if (m_prefixScanFloat4 && numSmallAabbs)
|
|
{
|
|
B3_PROFILE("GPU compute best variance axis");
|
|
|
|
if (m_dst.size() != (numSmallAabbs + 1))
|
|
{
|
|
m_dst.resize(numSmallAabbs + 128);
|
|
m_sum.resize(numSmallAabbs + 128);
|
|
m_sum2.resize(numSmallAabbs + 128);
|
|
m_sum.at(numSmallAabbs) = b3MakeVector3(0, 0, 0); //slow?
|
|
m_sum2.at(numSmallAabbs) = b3MakeVector3(0, 0, 0); //slow?
|
|
}
|
|
|
|
b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel, "m_prepareSumVarianceKernel");
|
|
launcher.setBuffer(m_allAabbsGPU.getBufferCL());
|
|
|
|
launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
|
|
launcher.setBuffer(m_sum.getBufferCL());
|
|
launcher.setBuffer(m_sum2.getBufferCL());
|
|
launcher.setConst(numSmallAabbs);
|
|
int num = numSmallAabbs;
|
|
launcher.launch1D(num);
|
|
|
|
b3Vector3 s;
|
|
b3Vector3 s2;
|
|
m_prefixScanFloat4->execute(m_sum, m_dst, numSmallAabbs + 1, &s);
|
|
m_prefixScanFloat4->execute(m_sum2, m_dst, numSmallAabbs + 1, &s2);
|
|
|
|
b3Vector3 v = s2 - (s * s) / (float)numSmallAabbs;
|
|
|
|
if (v[1] > v[0])
|
|
axis = 1;
|
|
if (v[2] > v[axis])
|
|
axis = 2;
|
|
}
|
|
|
|
m_gpuSmallSortData.resize(numSmallAabbs);
|
|
|
|
#if 1
|
|
if (m_smallAabbsMappingGPU.size())
|
|
{
|
|
B3_PROFILE("flipFloatKernel");
|
|
b3BufferInfoCL bInfo[] = {
|
|
b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true),
|
|
b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true),
|
|
b3BufferInfoCL(m_gpuSmallSortData.getBufferCL())};
|
|
b3LauncherCL launcher(m_queue, m_flipFloatKernel, "m_flipFloatKernel");
|
|
launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
|
|
launcher.setConst(numSmallAabbs);
|
|
launcher.setConst(axis);
|
|
|
|
int num = numSmallAabbs;
|
|
launcher.launch1D(num);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
if (m_gpuSmallSortData.size())
|
|
{
|
|
B3_PROFILE("gpu radix sort");
|
|
m_sorter->execute(m_gpuSmallSortData);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
m_gpuSmallSortedAabbs.resize(numSmallAabbs);
|
|
if (numSmallAabbs)
|
|
{
|
|
B3_PROFILE("scatterKernel");
|
|
|
|
b3BufferInfoCL bInfo[] = {
|
|
b3BufferInfoCL(m_allAabbsGPU.getBufferCL(), true),
|
|
b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL(), true),
|
|
b3BufferInfoCL(m_gpuSmallSortData.getBufferCL(), true),
|
|
b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
|
|
b3LauncherCL launcher(m_queue, m_scatterKernel, "m_scatterKernel ");
|
|
launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
|
|
launcher.setConst(numSmallAabbs);
|
|
int num = numSmallAabbs;
|
|
launcher.launch1D(num);
|
|
clFinish(m_queue);
|
|
}
|
|
|
|
m_overlappingPairs.resize(maxPairs);
|
|
|
|
m_pairCount.resize(0);
|
|
m_pairCount.push_back(0);
|
|
int numPairs = 0;
|
|
|
|
{
|
|
int numLargeAabbs = m_largeAabbsMappingGPU.size();
|
|
if (numLargeAabbs && numSmallAabbs)
|
|
{
|
|
//@todo
|
|
B3_PROFILE("sap2Kernel");
|
|
b3BufferInfoCL bInfo[] = {
|
|
b3BufferInfoCL(m_allAabbsGPU.getBufferCL()),
|
|
b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
|
|
b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
|
|
b3BufferInfoCL(m_overlappingPairs.getBufferCL()),
|
|
b3BufferInfoCL(m_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(axis);
|
|
launcher.setConst(maxPairs);
|
|
//@todo: use actual maximum work item sizes of the device instead of hardcoded values
|
|
launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
|
|
|
|
numPairs = m_pairCount.at(0);
|
|
if (numPairs > maxPairs)
|
|
{
|
|
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
|
|
numPairs = maxPairs;
|
|
}
|
|
}
|
|
}
|
|
if (m_gpuSmallSortedAabbs.size())
|
|
{
|
|
B3_PROFILE("sapKernel");
|
|
b3BufferInfoCL bInfo[] = {b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL()), b3BufferInfoCL(m_overlappingPairs.getBufferCL()), b3BufferInfoCL(m_pairCount.getBufferCL())};
|
|
b3LauncherCL launcher(m_queue, m_sapKernel, "m_sapKernel");
|
|
launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
|
|
launcher.setConst(numSmallAabbs);
|
|
launcher.setConst(axis);
|
|
launcher.setConst(maxPairs);
|
|
|
|
int num = numSmallAabbs;
|
|
#if 0
|
|
int buffSize = launcher.getSerializationBufferSize();
|
|
unsigned char* buf = new unsigned char[buffSize+sizeof(int)];
|
|
for (int i=0;i<buffSize+1;i++)
|
|
{
|
|
unsigned char* ptr = (unsigned char*)&buf[i];
|
|
*ptr = 0xff;
|
|
}
|
|
int actualWrite = launcher.serializeArguments(buf,buffSize);
|
|
|
|
unsigned char* cptr = (unsigned char*)&buf[buffSize];
|
|
// printf("buf[buffSize] = %d\n",*cptr);
|
|
|
|
assert(buf[buffSize]==0xff);//check for buffer overrun
|
|
int* ptr = (int*)&buf[buffSize];
|
|
|
|
*ptr = num;
|
|
|
|
FILE* f = fopen("m_sapKernelArgs.bin","wb");
|
|
fwrite(buf,buffSize+sizeof(int),1,f);
|
|
fclose(f);
|
|
#endif //
|
|
|
|
launcher.launch1D(num);
|
|
clFinish(m_queue);
|
|
|
|
numPairs = m_pairCount.at(0);
|
|
if (numPairs > maxPairs)
|
|
{
|
|
b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
|
|
numPairs = maxPairs;
|
|
m_pairCount.resize(0);
|
|
m_pairCount.push_back(maxPairs);
|
|
}
|
|
}
|
|
|
|
#else
|
|
int numPairs = 0;
|
|
|
|
b3LauncherCL launcher(m_queue, m_sapKernel);
|
|
|
|
const char* fileName = "m_sapKernelArgs.bin";
|
|
FILE* f = fopen(fileName, "rb");
|
|
if (f)
|
|
{
|
|
int sizeInBytes = 0;
|
|
if (fseek(f, 0, SEEK_END) || (sizeInBytes = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
|
|
{
|
|
printf("error, cannot get file size\n");
|
|
exit(0);
|
|
}
|
|
|
|
unsigned char* buf = (unsigned char*)malloc(sizeInBytes);
|
|
fread(buf, sizeInBytes, 1, f);
|
|
int serializedBytes = launcher.deserializeArgs(buf, sizeInBytes, m_context);
|
|
int num = *(int*)&buf[serializedBytes];
|
|
launcher.launch1D(num);
|
|
|
|
b3OpenCLArray<int> pairCount(m_context, m_queue);
|
|
int numElements = launcher.m_arrays[2]->size() / sizeof(int);
|
|
pairCount.setFromOpenCLBuffer(launcher.m_arrays[2]->getBufferCL(), numElements);
|
|
numPairs = pairCount.at(0);
|
|
//printf("overlapping pairs = %d\n",numPairs);
|
|
b3AlignedObjectArray<b3Int4> hostOoverlappingPairs;
|
|
b3OpenCLArray<b3Int4> tmpGpuPairs(m_context, m_queue);
|
|
tmpGpuPairs.setFromOpenCLBuffer(launcher.m_arrays[1]->getBufferCL(), numPairs);
|
|
|
|
tmpGpuPairs.copyToHost(hostOoverlappingPairs);
|
|
m_overlappingPairs.copyFromHost(hostOoverlappingPairs);
|
|
//printf("hello %d\n", m_overlappingPairs.size());
|
|
free(buf);
|
|
fclose(f);
|
|
}
|
|
else
|
|
{
|
|
printf("error: cannot find file %s\n", fileName);
|
|
}
|
|
|
|
clFinish(m_queue);
|
|
|
|
#endif
|
|
|
|
m_overlappingPairs.resize(numPairs);
|
|
|
|
} //B3_PROFILE("GPU_RADIX SORT");
|
|
//init3dSap();
|
|
}
|
|
|
|
void b3GpuSapBroadphase::writeAabbsToGpu()
|
|
{
|
|
m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
|
|
m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
|
|
|
|
m_allAabbsGPU.copyFromHost(m_allAabbsCPU); //might not be necessary, the 'setupGpuAabbsFull' already takes care of this
|
|
}
|
|
|
|
void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
|
|
{
|
|
int index = userPtr;
|
|
b3SapAabb aabb;
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
aabb.m_min[i] = aabbMin[i];
|
|
aabb.m_max[i] = aabbMax[i];
|
|
}
|
|
aabb.m_minIndices[3] = index;
|
|
aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
|
|
m_largeAabbsMappingCPU.push_back(m_allAabbsCPU.size());
|
|
|
|
m_allAabbsCPU.push_back(aabb);
|
|
}
|
|
|
|
void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
|
|
{
|
|
int index = userPtr;
|
|
b3SapAabb aabb;
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
aabb.m_min[i] = aabbMin[i];
|
|
aabb.m_max[i] = aabbMax[i];
|
|
}
|
|
aabb.m_minIndices[3] = index;
|
|
aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
|
|
m_smallAabbsMappingCPU.push_back(m_allAabbsCPU.size());
|
|
|
|
m_allAabbsCPU.push_back(aabb);
|
|
}
|
|
|
|
cl_mem b3GpuSapBroadphase::getAabbBufferWS()
|
|
{
|
|
return m_allAabbsGPU.getBufferCL();
|
|
}
|
|
|
|
int b3GpuSapBroadphase::getNumOverlap()
|
|
{
|
|
return m_overlappingPairs.size();
|
|
}
|
|
cl_mem b3GpuSapBroadphase::getOverlappingPairBuffer()
|
|
{
|
|
return m_overlappingPairs.getBufferCL();
|
|
}
|
|
|
|
b3OpenCLArray<b3Int4>& b3GpuSapBroadphase::getOverlappingPairsGPU()
|
|
{
|
|
return m_overlappingPairs;
|
|
}
|
|
b3OpenCLArray<int>& b3GpuSapBroadphase::getSmallAabbIndicesGPU()
|
|
{
|
|
return m_smallAabbsMappingGPU;
|
|
}
|
|
b3OpenCLArray<int>& b3GpuSapBroadphase::getLargeAabbIndicesGPU()
|
|
{
|
|
return m_largeAabbsMappingGPU;
|
|
}
|