143 lines
4.7 KiB
C++
143 lines
4.7 KiB
C++
#ifndef B3_GPU_SAP_BROADPHASE_H
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#define B3_GPU_SAP_BROADPHASE_H
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#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
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class b3Vector3;
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#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
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#include "b3SapAabb.h"
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#include "Bullet3Common/shared/b3Int2.h"
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#include "b3GpuBroadphaseInterface.h"
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class b3GpuSapBroadphase : public b3GpuBroadphaseInterface
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{
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cl_context m_context;
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cl_device_id m_device;
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cl_command_queue m_queue;
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cl_kernel m_flipFloatKernel;
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cl_kernel m_scatterKernel;
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cl_kernel m_copyAabbsKernel;
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cl_kernel m_sapKernel;
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cl_kernel m_sap2Kernel;
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cl_kernel m_prepareSumVarianceKernel;
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class b3RadixSort32CL* m_sorter;
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///test for 3d SAP
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b3AlignedObjectArray<b3SortData> m_sortedAxisCPU[3][2];
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b3AlignedObjectArray<b3UnsignedInt2> m_objectMinMaxIndexCPU[3][2];
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b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0;
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b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1;
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b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2;
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b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis0prev;
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b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis1prev;
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b3OpenCLArray<b3UnsignedInt2> m_objectMinMaxIndexGPUaxis2prev;
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b3OpenCLArray<b3SortData> m_sortedAxisGPU0;
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b3OpenCLArray<b3SortData> m_sortedAxisGPU1;
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b3OpenCLArray<b3SortData> m_sortedAxisGPU2;
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b3OpenCLArray<b3SortData> m_sortedAxisGPU0prev;
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b3OpenCLArray<b3SortData> m_sortedAxisGPU1prev;
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b3OpenCLArray<b3SortData> m_sortedAxisGPU2prev;
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b3OpenCLArray<b3Int4> m_addedHostPairsGPU;
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b3OpenCLArray<b3Int4> m_removedHostPairsGPU;
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b3OpenCLArray<int> m_addedCountGPU;
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b3OpenCLArray<int> m_removedCountGPU;
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int m_currentBuffer;
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public:
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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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enum b3GpuSapKernelType
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{
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B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU = 1,
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B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU,
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B3_GPU_SAP_KERNEL_ORIGINAL,
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B3_GPU_SAP_KERNEL_BARRIER,
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B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY
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};
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b3GpuSapBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q, b3GpuSapKernelType kernelType = B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
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virtual ~b3GpuSapBroadphase();
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static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx, cl_device_id device, cl_command_queue q)
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{
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return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU);
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}
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static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx, cl_device_id device, cl_command_queue q)
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{
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return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU);
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}
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static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx, cl_device_id device, cl_command_queue q)
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{
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return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_ORIGINAL);
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}
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static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx, cl_device_id device, cl_command_queue q)
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{
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return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_BARRIER);
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}
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static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx, cl_device_id device, cl_command_queue q)
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{
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return new b3GpuSapBroadphase(ctx, device, q, B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
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}
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virtual void calculateOverlappingPairs(int maxPairs);
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virtual void calculateOverlappingPairsHost(int maxPairs);
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void reset();
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void init3dSap();
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virtual void calculateOverlappingPairsHostIncremental3Sap();
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virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
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virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
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//call writeAabbsToGpu after done making all changes (createProxy etc)
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virtual void writeAabbsToGpu();
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virtual cl_mem getAabbBufferWS();
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virtual int getNumOverlap();
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virtual cl_mem getOverlappingPairBuffer();
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virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
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virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
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virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
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};
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#endif //B3_GPU_SAP_BROADPHASE_H
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