80 lines
2.3 KiB
C++
80 lines
2.3 KiB
C++
#ifndef B3_GPU_GRID_BROADPHASE_H
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#define B3_GPU_GRID_BROADPHASE_H
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#include "b3GpuBroadphaseInterface.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
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struct b3ParamsGridBroadphaseCL
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{
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float m_invCellSize[4];
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int m_gridSize[4];
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int getMaxBodiesPerCell() const
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{
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return m_gridSize[3];
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}
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void setMaxBodiesPerCell(int maxOverlap)
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{
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m_gridSize[3] = maxOverlap;
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}
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};
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class b3GpuGridBroadphase : public b3GpuBroadphaseInterface
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{
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protected:
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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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b3OpenCLArray<b3SapAabb> m_allAabbsGPU1;
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b3AlignedObjectArray<b3SapAabb> m_allAabbsCPU1;
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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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b3AlignedObjectArray<b3Int4> m_hostPairs;
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b3OpenCLArray<b3Int4> m_gpuPairs;
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b3OpenCLArray<b3SortData> m_hashGpu;
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b3OpenCLArray<int> m_cellStartGpu;
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b3ParamsGridBroadphaseCL m_paramsCPU;
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b3OpenCLArray<b3ParamsGridBroadphaseCL> m_paramsGPU;
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class b3RadixSort32CL* m_sorter;
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public:
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b3GpuGridBroadphase(cl_context ctx, cl_device_id device, cl_command_queue q);
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virtual ~b3GpuGridBroadphase();
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static b3GpuBroadphaseInterface* CreateFunc(cl_context ctx, cl_device_id device, cl_command_queue q)
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{
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return new b3GpuGridBroadphase(ctx, device, q);
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}
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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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virtual void calculateOverlappingPairs(int maxPairs);
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virtual void calculateOverlappingPairsHost(int maxPairs);
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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<b3SapAabb>& getAllAabbsGPU();
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virtual b3AlignedObjectArray<b3SapAabb>& getAllAabbsCPU();
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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_GRID_BROADPHASE_H
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