dali-physics/third-party/bullet3/src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.h

   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         float m_invCellSize[4];
  10         int m_gridSize[4];
  11
  12         int getMaxBodiesPerCell() const
  13         {
  14                 return m_gridSize[3];
  15         }
  16
  17         void setMaxBodiesPerCell(int maxOverlap)
  18         {
  19                 m_gridSize[3] = maxOverlap;
  20         }
  21 };
  22
  23 class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
  24 {
  25 protected:
  26         cl_context m_context;
  27         cl_device_id m_device;
  28         cl_command_queue m_queue;
  29
  30         b3OpenCLArray<b3SapAabb> m_allAabbsGPU1;
  31         b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU1;
  32
  33         b3OpenCLArray<int> m_smallAabbsMappingGPU;
  34         b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
  35
  36         b3OpenCLArray<int> m_largeAabbsMappingGPU;
  37         b3AlignedObjectArray<int> m_largeAabbsMappingCPU;
  38
  39         b3AlignedObjectArray<b3Int4> m_hostPairs;
  40         b3OpenCLArray<b3Int4> m_gpuPairs;
  41
  42         b3OpenCLArray<b3SortData> m_hashGpu;
  43         b3OpenCLArray<int> m_cellStartGpu;
  44
  45         b3ParamsGridBroadphaseCL m_paramsCPU;
  46         b3OpenCLArray<b3ParamsGridBroadphaseCL> m_paramsGPU;
  47
  48         class b3RadixSort32CL* m_sorter;
  49
  50 public:
  51         b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q);
  52         virtual ~b3GpuGridBroadphase();
  53
  54         static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx, cl_device_id device, cl_command_queue q)
  55         {
  56                 return new b3GpuGridBroadphase(ctx, device, q);
  57         }
  58
  59         virtual void createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
  60         virtual void createLargeProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int userPtr, int collisionFilterGroup, int collisionFilterMask);
  61
  62         virtual void calculateOverlappingPairs(int maxPairs);
  63         virtual void calculateOverlappingPairsHost(int maxPairs);
  64
  65         //call writeAabbsToGpu after done making all changes (createProxy etc)
  66         virtual void writeAabbsToGpu();
  67
  68         virtual cl_mem getAabbBufferWS();
  69         virtual int getNumOverlap();
  70         virtual cl_mem getOverlappingPairBuffer();
  71
  72         virtual b3OpenCLArray<b3SapAabb>& getAllAabbsGPU();
  73         virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU();
  74
  75         virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
  76         virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
  77         virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
  78 };
  79
  80 #endif  //B3_GPU_GRID_BROADPHASE_H