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lol/src/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h

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  1. #ifndef B3_GPU_GRID_BROADPHASE_H

  2. #define B3_GPU_GRID_BROADPHASE_H

  3. 

  4. #include "b3GpuBroadphaseInterface.h"

  5. #include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"

  6. 

  7. struct b3ParamsGridBroadphaseCL

  8. {

  9. 

  10. 	float m_invCellSize[4];

  11. 	int   m_gridSize[4];

  12. 

  13. 	int	getMaxBodiesPerCell() const

  14. 	{

  15. 		return m_gridSize[3];

  16. 	}

  17. 

  18. 	void setMaxBodiesPerCell(int maxOverlap) 

  19. 	{

  20. 		m_gridSize[3] = maxOverlap;

  21. 	}

  22. };

  23. 

  24. 

  25. class b3GpuGridBroadphase : public b3GpuBroadphaseInterface

  26. {

  27. protected:

  28. 	cl_context				m_context;

  29. 	cl_device_id			m_device;

  30. 	cl_command_queue		m_queue;

  31. 

  32. 	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU1;

  33. 	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU1;

  34. 

  35. 	b3OpenCLArray<int>	m_smallAabbsMappingGPU;

  36. 	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;

  37. 

  38. 	b3OpenCLArray<int>	m_largeAabbsMappingGPU;

  39. 	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;

  40. 

  41. 	b3AlignedObjectArray<b3Int4> m_hostPairs;

  42. 	b3OpenCLArray<b3Int4>			m_gpuPairs;

  43. 

  44. 	b3OpenCLArray<b3SortData>			m_hashGpu;

  45. 	b3OpenCLArray<int>			m_cellStartGpu;

  46. 	

  47. 

  48. 	b3ParamsGridBroadphaseCL		m_paramsCPU;

  49. 	b3OpenCLArray<b3ParamsGridBroadphaseCL>		m_paramsGPU;

  50. 

  51. 	class b3RadixSort32CL*			m_sorter;

  52. 

  53. public:

  54. 

  55. 	b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q );

  56. 	virtual ~b3GpuGridBroadphase();

  57. 

  58. 	static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx,cl_device_id device, cl_command_queue  q)

  59. 	{

  60. 		return new b3GpuGridBroadphase(ctx,device,q);

  61. 	}

  62. 

  63. 	

  64. 

  65. 

  66. 	virtual void createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);

  67. 	virtual void createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);

  68. 

  69. 	virtual void  calculateOverlappingPairs(int maxPairs);

  70. 	virtual void  calculateOverlappingPairsHost(int maxPairs);

  71. 

  72. 	//call writeAabbsToGpu after done making all changes (createProxy etc)

  73. 	virtual void writeAabbsToGpu();

  74. 

  75. 	virtual cl_mem	getAabbBufferWS();

  76. 	virtual int	getNumOverlap();

  77. 	virtual cl_mem	getOverlappingPairBuffer();

  78. 

  79. 	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU();

  80. 	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU();

  81. 	

  82. 	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();

  83. 	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();

  84. 	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();

  85. 

  86. };

  87. 

  88. #endif //B3_GPU_GRID_BROADPHASE_H