mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
replace 'copy' step of large/small Aabbs by indices
This commit is contained in:
erwincoumans
parent
33ebebd1c9
commit
ff051f87aa
@ -104,7 +104,7 @@ static PairBench* sPairDemo = 0;
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#define BP_COMBO_INDEX 123
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static int curSelectedBroadphase = 0;
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static int curSelectedBroadphase = 5;
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static BroadphaseEntry allBroadphases[]=
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{
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{"Gpu Grid",b3GpuGridBroadphase::CreateFunc},
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@ -20,8 +20,8 @@ b3GpuSapBroadphase::b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_co
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m_device(device),
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m_queue(q),
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m_allAabbsGPU(ctx,q),
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m_smallAabbsGPU(ctx,q),
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m_largeAabbsGPU(ctx,q),
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m_smallAabbsMappingGPU(ctx,q),
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m_largeAabbsMappingGPU(ctx,q),
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m_pairCount(ctx,q),
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m_overlappingPairs(ctx,q),
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m_gpuSmallSortData(ctx,q),
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@ -891,33 +891,19 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
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m_allAabbsGPU.copyToHost(m_allAabbsCPU);
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//m_data->m_broadphaseSap->calculateOverlappingPairs(m_data->m_config.m_maxBroadphasePairs);
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int numSmallAabbs = m_smallAabbsCPU.size();
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{
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for (int j=0;j<numSmallAabbs;j++)
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{
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//sync aabb
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int aabbIndex = m_smallAabbsCPU[j].m_signedMaxIndices[3];
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m_smallAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
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m_smallAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
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}
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}
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int axis=0;
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{
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B3_PROFILE("CPU compute best variance axis");
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b3Vector3 s=b3MakeVector3(0,0,0),s2=b3MakeVector3(0,0,0);
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int numRigidBodies = numSmallAabbs;
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int numRigidBodies = m_smallAabbsMappingCPU.size();
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for(int i=0;i<numRigidBodies;i++)
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{
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b3Vector3 maxAabb=b3MakeVector3(m_smallAabbsCPU[i].m_max[0],m_smallAabbsCPU[i].m_max[1],m_smallAabbsCPU[i].m_max[2]);
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b3Vector3 minAabb=b3MakeVector3(m_smallAabbsCPU[i].m_min[0],m_smallAabbsCPU[i].m_min[1],m_smallAabbsCPU[i].m_min[2]);
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b3SapAabb aabb = this->m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
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b3Vector3 maxAabb=b3MakeVector3(aabb.m_max[0],aabb.m_max[1],aabb.m_max[2]);
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b3Vector3 minAabb=b3MakeVector3(aabb.m_min[0],aabb.m_min[1],aabb.m_min[2]);
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b3Vector3 centerAabb=(maxAabb+minAabb)*0.5f;
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s += centerAabb;
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@ -932,34 +918,28 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
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}
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{
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int numLargeAabbs = m_largeAabbsCPU.size();
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for (int j=0;j<numLargeAabbs;j++)
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{
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//sync aabb
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int aabbIndex = m_largeAabbsCPU[j].m_signedMaxIndices[3];
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m_largeAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
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m_largeAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
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}
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}
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b3AlignedObjectArray<b3Int4> hostPairs;
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{
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int numSmallAabbs = m_smallAabbsCPU.size();
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int numSmallAabbs = m_smallAabbsMappingCPU.size();
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for (int i=0;i<numSmallAabbs;i++)
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{
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float reference = m_smallAabbsCPU[i].m_max[axis];
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b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
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float reference = smallAabbi.m_max[axis];
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for (int j=i+1;j<numSmallAabbs;j++)
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{
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if (TestAabbAgainstAabb2((b3Vector3&)m_smallAabbsCPU[i].m_min, (b3Vector3&)m_smallAabbsCPU[i].m_max,
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(b3Vector3&)m_smallAabbsCPU[j].m_min,(b3Vector3&)m_smallAabbsCPU[j].m_max))
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b3SapAabb smallAabbj = m_allAabbsCPU[m_smallAabbsMappingCPU[j]];
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if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
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(b3Vector3&)smallAabbj.m_min,(b3Vector3&)smallAabbj.m_max))
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{
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b3Int4 pair;
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int a = m_smallAabbsCPU[i].m_minIndices[3];
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int b = m_smallAabbsCPU[j].m_minIndices[3];
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int a = smallAabbi.m_minIndices[3];
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int b = smallAabbj.m_minIndices[3];
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if (a<=b)
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{
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pair.x = a;//store the original index in the unsorted aabb array
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@ -977,20 +957,23 @@ void b3GpuSapBroadphase::calculateOverlappingPairsHost(int maxPairs)
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{
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int numSmallAabbs = m_smallAabbsCPU.size();
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int numSmallAabbs = m_smallAabbsMappingCPU.size();
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for (int i=0;i<numSmallAabbs;i++)
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{
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float reference = m_smallAabbsCPU[i].m_max[axis];
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int numLargeAabbs = m_largeAabbsCPU.size();
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b3SapAabb smallAabbi = m_allAabbsCPU[m_smallAabbsMappingCPU[i]];
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float reference = smallAabbi.m_max[axis];
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int numLargeAabbs = m_largeAabbsMappingCPU.size();
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for (int j=0;j<numLargeAabbs;j++)
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{
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if (TestAabbAgainstAabb2((b3Vector3&)m_smallAabbsCPU[i].m_min, (b3Vector3&)m_smallAabbsCPU[i].m_max,
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(b3Vector3&)m_largeAabbsCPU[j].m_min,(b3Vector3&)m_largeAabbsCPU[j].m_max))
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b3SapAabb largeAabbj = m_allAabbsCPU[m_largeAabbsMappingCPU[j]];
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if (TestAabbAgainstAabb2((b3Vector3&)smallAabbi.m_min, (b3Vector3&)smallAabbi.m_max,
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(b3Vector3&)largeAabbj.m_min,(b3Vector3&)largeAabbj.m_max))
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{
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b3Int4 pair;
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int a = m_largeAabbsCPU[j].m_minIndices[3];
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int b = m_smallAabbsCPU[i].m_minIndices[3];
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int a = largeAabbj.m_minIndices[3];
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int b = smallAabbi.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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@ -1029,11 +1012,15 @@ void b3GpuSapBroadphase::reset()
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m_allAabbsGPU.resize(0);
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m_allAabbsCPU.resize(0);
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m_smallAabbsGPU.resize(0);
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m_smallAabbsCPU.resize(0);
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m_smallAabbsMappingGPU.resize(0);
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m_smallAabbsMappingCPU.resize(0);
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m_pairCount.resize(0);
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m_largeAabbsGPU.resize(0);
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m_largeAabbsCPU.resize(0);
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m_largeAabbsMappingGPU.resize(0);
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m_largeAabbsMappingCPU.resize(0);
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}
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@ -1044,6 +1031,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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calculateOverlappingPairsHost(maxPairs);
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return;
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}
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//if (m_currentBuffer>=0)
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// return calculateOverlappingPairsHostIncremental3Sap();
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@ -1057,47 +1045,7 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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bool syncOnHost = false;
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if (syncOnHost)
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{
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B3_PROFILE("Synchronize m_smallAabbsGPU (CPU/slow)");
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m_allAabbsGPU.copyToHost(m_allAabbsCPU);
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m_smallAabbsGPU.copyToHost(m_smallAabbsCPU);
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{
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int numSmallAabbs = m_smallAabbsCPU.size();
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for (int j=0;j<numSmallAabbs;j++)
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{
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//sync aabb
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int aabbIndex = m_smallAabbsCPU[j].m_signedMaxIndices[3];
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m_smallAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
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m_smallAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
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}
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}
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m_smallAabbsGPU.copyFromHost(m_smallAabbsCPU);
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} else
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{
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{
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int numSmallAabbs = m_smallAabbsGPU.size();
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if (numSmallAabbs)
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{
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B3_PROFILE("copyAabbsKernelSmall");
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b3BufferInfoCL bInfo[] = {
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b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ),
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b3BufferInfoCL( m_smallAabbsGPU.getBufferCL()),
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};
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel ,"m_copyAabbsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs );
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int num = numSmallAabbs;
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launcher.launch1D( num);
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}
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}
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}
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int numSmallAabbs = m_smallAabbsGPU.size();
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int numSmallAabbs = m_smallAabbsMappingCPU.size();
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if (m_prefixScanFloat4 && numSmallAabbs)
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{
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B3_PROFILE("GPU compute best variance axis");
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@ -1112,7 +1060,9 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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}
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b3LauncherCL launcher(m_queue, m_prepareSumVarianceKernel ,"m_prepareSumVarianceKernel");
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launcher.setBuffer(m_smallAabbsGPU.getBufferCL());
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launcher.setBuffer(m_allAabbsGPU.getBufferCL());
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launcher.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
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launcher.setBuffer(m_sum.getBufferCL());
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launcher.setBuffer(m_sum2.getBufferCL());
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launcher.setConst( numSmallAabbs+1 );
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@ -1134,60 +1084,19 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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}
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if (syncOnHost)
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{
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B3_PROFILE("Synchronize m_largeAabbsGPU (CPU/slow)");
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m_allAabbsGPU.copyToHost(m_allAabbsCPU);
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m_largeAabbsGPU.copyToHost(m_largeAabbsCPU);
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{
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int numLargeAabbs = m_largeAabbsCPU.size();
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for (int j=0;j<numLargeAabbs;j++)
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{
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//sync aabb
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int aabbIndex = m_largeAabbsCPU[j].m_signedMaxIndices[3];
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m_largeAabbsCPU[j] = m_allAabbsCPU[aabbIndex];
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m_largeAabbsCPU[j].m_signedMaxIndices[3] = aabbIndex;
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}
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}
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m_largeAabbsGPU.copyFromHost(m_largeAabbsCPU);
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} else
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{
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int numLargeAabbs = m_largeAabbsGPU.size();
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if (numLargeAabbs)
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{
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B3_PROFILE("copyAabbsKernelLarge");
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b3BufferInfoCL bInfo[] = {
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b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ),
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b3BufferInfoCL( m_largeAabbsGPU.getBufferCL()),
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};
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b3LauncherCL launcher(m_queue, m_copyAabbsKernel ,"m_copyAabbsKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numLargeAabbs );
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int num = numLargeAabbs;
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launcher.launch1D( num);
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clFinish(m_queue);
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}
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}
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m_gpuSmallSortData.resize(numSmallAabbs);
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int numLargeAabbs = m_smallAabbsGPU.size();
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#if 1
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if (m_smallAabbsGPU.size())
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if (m_smallAabbsMappingGPU.size())
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{
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B3_PROFILE("flipFloatKernel");
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b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_smallAabbsGPU.getBufferCL(), true ), b3BufferInfoCL( m_gpuSmallSortData.getBufferCL())};
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b3BufferInfoCL bInfo[] = {
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b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ),
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b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL(), true),
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b3BufferInfoCL( m_gpuSmallSortData.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_flipFloatKernel ,"m_flipFloatKernel");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs );
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@ -1209,7 +1118,12 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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if (numSmallAabbs)
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{
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B3_PROFILE("scatterKernel");
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b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_smallAabbsGPU.getBufferCL(), true ), b3BufferInfoCL( m_gpuSmallSortData.getBufferCL(),true),b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
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b3BufferInfoCL bInfo[] = {
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b3BufferInfoCL( m_allAabbsGPU.getBufferCL(), true ),
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b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL(), true),
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b3BufferInfoCL( m_gpuSmallSortData.getBufferCL(),true),
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b3BufferInfoCL(m_gpuSmallSortedAabbs.getBufferCL())};
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b3LauncherCL launcher(m_queue, m_scatterKernel ,"m_scatterKernel ");
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launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
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launcher.setConst( numSmallAabbs);
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@ -1227,11 +1141,17 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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int numPairs=0;
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{
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int numLargeAabbs = m_largeAabbsGPU.size();
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int numLargeAabbs = m_largeAabbsMappingGPU.size();
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if (numLargeAabbs && numSmallAabbs)
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{
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//@todo
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B3_PROFILE("sap2Kernel");
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b3BufferInfoCL bInfo[] = { b3BufferInfoCL( m_largeAabbsGPU.getBufferCL() ),b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ), b3BufferInfoCL( m_overlappingPairs.getBufferCL() ), b3BufferInfoCL(m_pairCount.getBufferCL())};
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b3BufferInfoCL bInfo[] = {
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b3BufferInfoCL( m_allAabbsGPU.getBufferCL() ),
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b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
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b3BufferInfoCL( m_gpuSmallSortedAabbs.getBufferCL() ),
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b3BufferInfoCL( m_overlappingPairs.getBufferCL() ),
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b3BufferInfoCL(m_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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@ -1348,15 +1268,17 @@ void b3GpuSapBroadphase::calculateOverlappingPairs(int maxPairs)
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m_overlappingPairs.resize(numPairs);
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}//B3_PROFILE("GPU_RADIX SORT");
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//init3dSap();
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}
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void b3GpuSapBroadphase::writeAabbsToGpu()
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{
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m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
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m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);
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m_allAabbsGPU.copyFromHost(m_allAabbsCPU);//might not be necessary, the 'setupGpuAabbsFull' already takes care of this
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m_smallAabbsGPU.copyFromHost(m_smallAabbsCPU);
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m_largeAabbsGPU.copyFromHost(m_largeAabbsCPU);
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}
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@ -1371,7 +1293,8 @@ void b3GpuSapBroadphase::createLargeProxy(const b3Vector3& aabbMin, const b3Vec
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}
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aabb.m_minIndices[3] = index;
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aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
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m_largeAabbsCPU.push_back(aabb);
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m_largeAabbsMappingCPU.push_back(m_allAabbsCPU.size());
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m_allAabbsCPU.push_back(aabb);
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}
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@ -1386,7 +1309,9 @@ void b3GpuSapBroadphase::createProxy(const b3Vector3& aabbMin, const b3Vector3&
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}
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aabb.m_minIndices[3] = index;
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aabb.m_signedMaxIndices[3] = m_allAabbsCPU.size();
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m_smallAabbsCPU.push_back(aabb);
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m_smallAabbsMappingCPU.push_back(m_allAabbsCPU.size());
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m_allAabbsCPU.push_back(aabb);
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}
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@ -74,12 +74,13 @@ public:
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b3OpenCLArray<b3Vector3> m_sum2;
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b3OpenCLArray<b3Vector3> m_dst;
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b3OpenCLArray<b3SapAabb> m_smallAabbsGPU;
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b3AlignedObjectArray<b3SapAabb> m_smallAabbsCPU;
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b3OpenCLArray<int> m_smallAabbsMappingGPU;
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b3AlignedObjectArray<int> m_smallAabbsMappingCPU;
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b3OpenCLArray<b3SapAabb> m_largeAabbsGPU;
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b3AlignedObjectArray<b3SapAabb> m_largeAabbsCPU;
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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
|
||||
|
||||
@ -63,7 +63,7 @@ bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL*
|
||||
}
|
||||
|
||||
|
||||
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const btAabbCL* sortedAabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)
|
||||
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping, __global const btAabbCL* sortedAabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)
|
||||
{
|
||||
int i = get_global_id(0);
|
||||
if (i>=numUnsortedAabbs)
|
||||
@ -73,11 +73,14 @@ __kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAa
|
||||
if (j>=numSortedAabbs)
|
||||
return;
|
||||
|
||||
if (TestAabbAgainstAabb2GlobalGlobal(&unsortedAabbs[i],&sortedAabbs[j]))
|
||||
|
||||
__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];
|
||||
|
||||
if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,&sortedAabbs[j]))
|
||||
{
|
||||
int4 myPair;
|
||||
|
||||
int xIndex = unsortedAabbs[i].m_minIndices[3];
|
||||
int xIndex = unsortedAabbPtr[0].m_minIndices[3];
|
||||
int yIndex = sortedAabbs[j].m_minIndices[3];
|
||||
if (xIndex>yIndex)
|
||||
{
|
||||
@ -346,36 +349,40 @@ __kernel void copyAabbsKernel( __global const btAabbCL* allAabbs, __global btA
|
||||
}
|
||||
|
||||
|
||||
__kernel void flipFloatKernel( __global const btAabbCL* aabbs, volatile __global int2* sortData, int numObjects, int axis)
|
||||
__kernel void flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global int2* sortData, int numObjects, int axis)
|
||||
{
|
||||
int i = get_global_id(0);
|
||||
if (i>=numObjects)
|
||||
return;
|
||||
|
||||
sortData[i].x = FloatFlip(aabbs[i].m_minElems[axis]);
|
||||
sortData[i].y = i;
|
||||
|
||||
|
||||
sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);
|
||||
sortData[i].y = i;
|
||||
|
||||
}
|
||||
|
||||
|
||||
__kernel void scatterKernel( __global const btAabbCL* aabbs, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)
|
||||
__kernel void scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)
|
||||
{
|
||||
int i = get_global_id(0);
|
||||
if (i>=numObjects)
|
||||
return;
|
||||
|
||||
sortedAabbs[i] = aabbs[sortData[i].y];
|
||||
|
||||
sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];
|
||||
}
|
||||
|
||||
|
||||
|
||||
__kernel void prepareSumVarianceKernel( __global const btAabbCL* aabbs, __global float4* sum, __global float4* sum2,int numAabbs)
|
||||
__kernel void prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)
|
||||
{
|
||||
int i = get_global_id(0);
|
||||
if (i>numAabbs)
|
||||
return;
|
||||
|
||||
btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];
|
||||
|
||||
float4 s;
|
||||
s = (aabbs[i].m_max+aabbs[i].m_min)*0.5f;
|
||||
s = (smallAabb.m_max+smallAabb.m_min)*0.5f;
|
||||
sum[i]=s;
|
||||
sum2[i]=s*s;
|
||||
}
|
||||
|
||||
@ -56,7 +56,7 @@ static const char* sapCL= \
|
||||
" overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
|
||||
" return overlap;\n"
|
||||
"}\n"
|
||||
"__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const btAabbCL* sortedAabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)\n"
|
||||
"__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping, __global const btAabbCL* sortedAabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numSortedAabbs, int axis, int maxPairs)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numUnsortedAabbs)\n"
|
||||
@ -64,11 +64,12 @@ static const char* sapCL= \
|
||||
" int j = get_global_id(1);\n"
|
||||
" if (j>=numSortedAabbs)\n"
|
||||
" return;\n"
|
||||
" if (TestAabbAgainstAabb2GlobalGlobal(&unsortedAabbs[i],&sortedAabbs[j]))\n"
|
||||
" __global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];\n"
|
||||
" if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,&sortedAabbs[j]))\n"
|
||||
" {\n"
|
||||
" int4 myPair;\n"
|
||||
" \n"
|
||||
" int xIndex = unsortedAabbs[i].m_minIndices[3];\n"
|
||||
" int xIndex = unsortedAabbPtr[0].m_minIndices[3];\n"
|
||||
" int yIndex = sortedAabbs[j].m_minIndices[3];\n"
|
||||
" if (xIndex>yIndex)\n"
|
||||
" {\n"
|
||||
@ -305,30 +306,35 @@ static const char* sapCL= \
|
||||
" destAabbs[i] = allAabbs[src];\n"
|
||||
" destAabbs[i].m_maxIndices[3] = src;\n"
|
||||
"}\n"
|
||||
"__kernel void flipFloatKernel( __global const btAabbCL* aabbs, volatile __global int2* sortData, int numObjects, int axis)\n"
|
||||
"__kernel void flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global int2* sortData, int numObjects, int axis)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numObjects)\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" sortData[i].x = FloatFlip(aabbs[i].m_minElems[axis]);\n"
|
||||
" sortData[i].y = i;\n"
|
||||
" \n"
|
||||
" \n"
|
||||
" sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);\n"
|
||||
" sortData[i].y = i;\n"
|
||||
" \n"
|
||||
"}\n"
|
||||
"__kernel void scatterKernel( __global const btAabbCL* aabbs, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)\n"
|
||||
"__kernel void scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>=numObjects)\n"
|
||||
" return;\n"
|
||||
" sortedAabbs[i] = aabbs[sortData[i].y];\n"
|
||||
" \n"
|
||||
" sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];\n"
|
||||
"}\n"
|
||||
"__kernel void prepareSumVarianceKernel( __global const btAabbCL* aabbs, __global float4* sum, __global float4* sum2,int numAabbs)\n"
|
||||
"__kernel void prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)\n"
|
||||
"{\n"
|
||||
" int i = get_global_id(0);\n"
|
||||
" if (i>numAabbs)\n"
|
||||
" return;\n"
|
||||
" \n"
|
||||
" btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];\n"
|
||||
" \n"
|
||||
" float4 s;\n"
|
||||
" s = (aabbs[i].m_max+aabbs[i].m_min)*0.5f;\n"
|
||||
" s = (smallAabb.m_max+smallAabb.m_min)*0.5f;\n"
|
||||
" sum[i]=s;\n"
|
||||
" sum2[i]=s*s; \n"
|
||||
"}\n"
|
||||
|
||||
Loading…
Reference in New Issue
Block a user