339 lines
10 KiB
C++
339 lines
10 KiB
C++
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#include "b3GpuGridBroadphase.h"
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#include "Bullet3Geometry/b3AabbUtil.h"
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#include "kernels/gridBroadphaseKernels.h"
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#include "kernels/sapKernels.h"
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//#include "kernels/gridBroadphase.cl"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
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#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"
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cl_kernel kCalcHashAABB;
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cl_kernel kClearCellStart;
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cl_kernel kFindCellStart;
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cl_kernel kFindOverlappingPairs;
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cl_kernel m_copyAabbsKernel;
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cl_kernel m_sap2Kernel;
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//int maxPairsPerBody = 64;
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int maxBodiesPerCell = 256; //??
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b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q)
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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_allAabbsGPU1(ctx, q),
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m_smallAabbsMappingGPU(ctx, q),
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m_largeAabbsMappingGPU(ctx, q),
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m_gpuPairs(ctx, q),
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m_hashGpu(ctx, q),
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m_cellStartGpu(ctx, q),
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m_paramsGPU(ctx, q)
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{
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b3Vector3 gridSize = b3MakeVector3(3, 3, 3);
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b3Vector3 invGridSize = b3MakeVector3(1.f / gridSize[0], 1.f / gridSize[1], 1.f / gridSize[2]);
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m_paramsCPU.m_gridSize[0] = 128;
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m_paramsCPU.m_gridSize[1] = 128;
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m_paramsCPU.m_gridSize[2] = 128;
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m_paramsCPU.m_gridSize[3] = maxBodiesPerCell;
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m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell);
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m_paramsCPU.m_invCellSize[0] = invGridSize[0];
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m_paramsCPU.m_invCellSize[1] = invGridSize[1];
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m_paramsCPU.m_invCellSize[2] = invGridSize[2];
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m_paramsCPU.m_invCellSize[3] = 0.f;
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m_paramsGPU.push_back(m_paramsCPU);
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cl_int errNum = 0;
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{
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const char* sapSrc = sapCL;
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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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m_copyAabbsKernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, sapSrc, "copyAabbsKernel", &errNum, sapProg);
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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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}
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{
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cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context, m_device, gridBroadphaseCL, &errNum, "", B3_GRID_BROADPHASE_PATH);
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b3Assert(errNum == CL_SUCCESS);
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kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kCalcHashAABB", &errNum, gridProg);
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b3Assert(errNum == CL_SUCCESS);
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kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kClearCellStart", &errNum, gridProg);
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b3Assert(errNum == CL_SUCCESS);
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kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindCellStart", &errNum, gridProg);
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b3Assert(errNum == CL_SUCCESS);
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kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device, gridBroadphaseCL, "kFindOverlappingPairs", &errNum, gridProg);
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b3Assert(errNum == CL_SUCCESS);
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}
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m_sorter = new b3RadixSort32CL(m_context, m_device, m_queue);
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}
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b3GpuGridBroadphase::~b3GpuGridBroadphase()
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{
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clReleaseKernel(kCalcHashAABB);
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clReleaseKernel(kClearCellStart);
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clReleaseKernel(kFindCellStart);
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clReleaseKernel(kFindOverlappingPairs);
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clReleaseKernel(m_sap2Kernel);
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clReleaseKernel(m_copyAabbsKernel);
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delete m_sorter;
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}
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void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
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{
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b3SapAabb aabb;
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aabb.m_minVec = aabbMin;
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aabb.m_maxVec = aabbMax;
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aabb.m_minIndices[3] = userPtr;
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aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size(); //NOT userPtr;
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m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
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m_allAabbsCPU1.push_back(aabb);
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}
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void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask)
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{
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b3SapAabb aabb;
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aabb.m_minVec = aabbMin;
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aabb.m_maxVec = aabbMax;
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aabb.m_minIndices[3] = userPtr;
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aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size(); //NOT userPtr;
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m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());
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m_allAabbsCPU1.push_back(aabb);
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}
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void b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
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{
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B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
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if (0)
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{
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calculateOverlappingPairsHost(maxPairs);
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/*
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b3AlignedObjectArray<b3Int4> cpuPairs;
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m_gpuPairs.copyToHost(cpuPairs);
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printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
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for (int i=0;i<m_gpuPairs.size();i++)
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{
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printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
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}
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*/
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return;
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}
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int numSmallAabbs = m_smallAabbsMappingGPU.size();
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b3OpenCLArray<int> pairCount(m_context, m_queue);
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pairCount.push_back(0);
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m_gpuPairs.resize(maxPairs); //numSmallAabbs*maxPairsPerBody);
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{
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int numLargeAabbs = m_largeAabbsMappingGPU.size();
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if (numLargeAabbs && numSmallAabbs)
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{
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B3_PROFILE("sap2Kernel");
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b3BufferInfoCL bInfo[] = {
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b3BufferInfoCL(m_allAabbsGPU1.getBufferCL()),
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b3BufferInfoCL(m_largeAabbsMappingGPU.getBufferCL()),
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b3BufferInfoCL(m_smallAabbsMappingGPU.getBufferCL()),
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b3BufferInfoCL(m_gpuPairs.getBufferCL()),
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b3BufferInfoCL(pairCount.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_sap2Kernel, "m_sap2Kernel");
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launcher.setBuffers(bInfo, sizeof(bInfo) / sizeof(b3BufferInfoCL));
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launcher.setConst(numLargeAabbs);
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launcher.setConst(numSmallAabbs);
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launcher.setConst(0); //axis is not used
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launcher.setConst(maxPairs);
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//@todo: use actual maximum work item sizes of the device instead of hardcoded values
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launcher.launch2D(numLargeAabbs, numSmallAabbs, 4, 64);
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int numPairs = pairCount.at(0);
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if (numPairs > maxPairs)
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{
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b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
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numPairs = maxPairs;
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}
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}
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}
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if (numSmallAabbs)
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{
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B3_PROFILE("gridKernel");
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m_hashGpu.resize(numSmallAabbs);
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{
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B3_PROFILE("kCalcHashAABB");
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b3LauncherCL launch(m_queue, kCalcHashAABB, "kCalcHashAABB");
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launch.setConst(numSmallAabbs);
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launch.setBuffer(m_allAabbsGPU1.getBufferCL());
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launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(this->m_paramsGPU.getBufferCL());
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launch.launch1D(numSmallAabbs);
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}
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m_sorter->execute(m_hashGpu);
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int numCells = this->m_paramsCPU.m_gridSize[0] * this->m_paramsCPU.m_gridSize[1] * this->m_paramsCPU.m_gridSize[2];
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m_cellStartGpu.resize(numCells);
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//b3AlignedObjectArray<int > cellStartCpu;
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{
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B3_PROFILE("kClearCellStart");
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b3LauncherCL launch(m_queue, kClearCellStart, "kClearCellStart");
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launch.setConst(numCells);
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.launch1D(numCells);
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//m_cellStartGpu.copyToHost(cellStartCpu);
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//printf("??\n");
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}
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{
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B3_PROFILE("kFindCellStart");
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b3LauncherCL launch(m_queue, kFindCellStart, "kFindCellStart");
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launch.setConst(numSmallAabbs);
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.launch1D(numSmallAabbs);
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//m_cellStartGpu.copyToHost(cellStartCpu);
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//printf("??\n");
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}
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{
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B3_PROFILE("kFindOverlappingPairs");
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b3LauncherCL launch(m_queue, kFindOverlappingPairs, "kFindOverlappingPairs");
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launch.setConst(numSmallAabbs);
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launch.setBuffer(m_allAabbsGPU1.getBufferCL());
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launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
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launch.setBuffer(m_hashGpu.getBufferCL());
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launch.setBuffer(m_cellStartGpu.getBufferCL());
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launch.setBuffer(m_paramsGPU.getBufferCL());
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//launch.setBuffer(0);
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launch.setBuffer(pairCount.getBufferCL());
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launch.setBuffer(m_gpuPairs.getBufferCL());
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launch.setConst(maxPairs);
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launch.launch1D(numSmallAabbs);
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int numPairs = pairCount.at(0);
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if (numPairs > maxPairs)
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{
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b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
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numPairs = maxPairs;
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}
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m_gpuPairs.resize(numPairs);
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if (0)
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{
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b3AlignedObjectArray<b3Int4> pairsCpu;
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m_gpuPairs.copyToHost(pairsCpu);
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int sz = m_gpuPairs.size();
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printf("m_gpuPairs.size()=%d\n", sz);
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for (int i = 0; i < m_gpuPairs.size(); i++)
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{
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printf("pair %d = %d,%d\n", i, pairsCpu[i].x, pairsCpu[i].y);
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}
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printf("?!?\n");
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}
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}
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}
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//calculateOverlappingPairsHost(maxPairs);
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}
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void b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
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{
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m_hostPairs.resize(0);
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m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
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for (int i = 0; i < m_allAabbsCPU1.size(); i++)
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{
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for (int j = i + 1; j < m_allAabbsCPU1.size(); j++)
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{
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if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
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m_allAabbsCPU1[j].m_minVec, m_allAabbsCPU1[j].m_maxVec))
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{
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b3Int4 pair;
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int a = m_allAabbsCPU1[j].m_minIndices[3];
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int b = m_allAabbsCPU1[i].m_minIndices[3];
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if (a <= b)
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{
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pair.x = a;
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pair.y = b; //store the original index in the unsorted aabb array
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}
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else
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{
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pair.x = b;
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pair.y = a; //store the original index in the unsorted aabb array
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}
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if (m_hostPairs.size() < maxPairs)
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{
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m_hostPairs.push_back(pair);
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}
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}
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}
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}
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m_gpuPairs.copyFromHost(m_hostPairs);
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}
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//call writeAabbsToGpu after done making all changes (createProxy etc)
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void b3GpuGridBroadphase::writeAabbsToGpu()
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{
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m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
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m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
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m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
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}
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cl_mem b3GpuGridBroadphase::getAabbBufferWS()
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{
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return this->m_allAabbsGPU1.getBufferCL();
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}
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int b3GpuGridBroadphase::getNumOverlap()
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{
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return m_gpuPairs.size();
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}
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cl_mem b3GpuGridBroadphase::getOverlappingPairBuffer()
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{
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return m_gpuPairs.getBufferCL();
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}
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b3OpenCLArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsGPU()
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{
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return m_allAabbsGPU1;
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}
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b3AlignedObjectArray<b3SapAabb>& b3GpuGridBroadphase::getAllAabbsCPU()
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{
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return m_allAabbsCPU1;
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}
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b3OpenCLArray<b3Int4>& b3GpuGridBroadphase::getOverlappingPairsGPU()
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{
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return m_gpuPairs;
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}
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b3OpenCLArray<int>& b3GpuGridBroadphase::getSmallAabbIndicesGPU()
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{
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return m_smallAabbsMappingGPU;
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}
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b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
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{
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return m_largeAabbsMappingGPU;
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}
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