libbullet-dev 2.87+dfsg-2 / usr / include / bullet / Bullet3OpenCL / BroadphaseCollision / b3GpuSapBroadphase.h

This file is indexed.

/usr/include/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h is in libbullet-dev 2.87+dfsg-2.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below. 

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
#ifndef B3_GPU_SAP_BROADPHASE_H
#define B3_GPU_SAP_BROADPHASE_H

#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h" //b3Int2
class b3Vector3;
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"

#include "b3SapAabb.h"
#include "Bullet3Common/shared/b3Int2.h"

#include "b3GpuBroadphaseInterface.h"


class b3GpuSapBroadphase : public b3GpuBroadphaseInterface
{
	
	cl_context				m_context;
	cl_device_id			m_device;
	cl_command_queue		m_queue;
	cl_kernel				m_flipFloatKernel;
	cl_kernel				m_scatterKernel ;
	cl_kernel				m_copyAabbsKernel;
	cl_kernel				m_sapKernel;
	cl_kernel				m_sap2Kernel;
	cl_kernel				m_prepareSumVarianceKernel;
	

	class b3RadixSort32CL* m_sorter;

	///test for 3d SAP
	b3AlignedObjectArray<b3SortData>		m_sortedAxisCPU[3][2];
	b3AlignedObjectArray<b3UnsignedInt2>	m_objectMinMaxIndexCPU[3][2];
	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis0;
	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis1;
	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis2;
	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis0prev;
	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis1prev;
	b3OpenCLArray<b3UnsignedInt2>			m_objectMinMaxIndexGPUaxis2prev;

	b3OpenCLArray<b3SortData>				m_sortedAxisGPU0;
	b3OpenCLArray<b3SortData>				m_sortedAxisGPU1;
	b3OpenCLArray<b3SortData>				m_sortedAxisGPU2;
	b3OpenCLArray<b3SortData>				m_sortedAxisGPU0prev;
	b3OpenCLArray<b3SortData>				m_sortedAxisGPU1prev;
	b3OpenCLArray<b3SortData>				m_sortedAxisGPU2prev;


	b3OpenCLArray<b3Int4>					m_addedHostPairsGPU;
	b3OpenCLArray<b3Int4>					m_removedHostPairsGPU;
	b3OpenCLArray<int>						m_addedCountGPU;
	b3OpenCLArray<int>						m_removedCountGPU;
	
	int	m_currentBuffer;

public:

	b3OpenCLArray<int> m_pairCount;


	b3OpenCLArray<b3SapAabb>	m_allAabbsGPU;
	b3AlignedObjectArray<b3SapAabb>	m_allAabbsCPU;

	virtual b3OpenCLArray<b3SapAabb>&	getAllAabbsGPU()
	{
		return m_allAabbsGPU;
	}
	virtual b3AlignedObjectArray<b3SapAabb>&	getAllAabbsCPU()
	{
		return m_allAabbsCPU;
	}

	b3OpenCLArray<b3Vector3>	m_sum;
	b3OpenCLArray<b3Vector3>	m_sum2;
	b3OpenCLArray<b3Vector3>	m_dst;

	b3OpenCLArray<int>	m_smallAabbsMappingGPU;
	b3AlignedObjectArray<int> m_smallAabbsMappingCPU;

	b3OpenCLArray<int>	m_largeAabbsMappingGPU;
	b3AlignedObjectArray<int> m_largeAabbsMappingCPU;

	
	b3OpenCLArray<b3Int4>		m_overlappingPairs;

	//temporary gpu work memory
	b3OpenCLArray<b3SortData>	m_gpuSmallSortData;
	b3OpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;

	class b3PrefixScanFloat4CL*		m_prefixScanFloat4;

	enum b3GpuSapKernelType
	{
		B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU=1,
		B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU,
		B3_GPU_SAP_KERNEL_ORIGINAL,
		B3_GPU_SAP_KERNEL_BARRIER,
		B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY
	};

	b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q , b3GpuSapKernelType kernelType=B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
	virtual ~b3GpuSapBroadphase();
	
	static b3GpuBroadphaseInterface* CreateFuncBruteForceCpu(cl_context ctx,cl_device_id device, cl_command_queue  q)
	{
		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_CPU);
	}

	static b3GpuBroadphaseInterface* CreateFuncBruteForceGpu(cl_context ctx,cl_device_id device, cl_command_queue  q)
	{
		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BRUTE_FORCE_GPU);
	}

	static b3GpuBroadphaseInterface* CreateFuncOriginal(cl_context ctx,cl_device_id device, cl_command_queue  q)
	{
		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_ORIGINAL);
	}
	static b3GpuBroadphaseInterface* CreateFuncBarrier(cl_context ctx,cl_device_id device, cl_command_queue  q)
	{
		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_BARRIER);
	}
	static b3GpuBroadphaseInterface* CreateFuncLocalMemory(cl_context ctx,cl_device_id device, cl_command_queue  q)
	{
		return new b3GpuSapBroadphase(ctx,device,q,B3_GPU_SAP_KERNEL_LOCAL_SHARED_MEMORY);
	}
	

	virtual void  calculateOverlappingPairs(int maxPairs);
	virtual void  calculateOverlappingPairsHost(int maxPairs);
	
	void  reset();

	void init3dSap();
	virtual void calculateOverlappingPairsHostIncremental3Sap();

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

	//call writeAabbsToGpu after done making all changes (createProxy etc)
	virtual void writeAabbsToGpu();

	virtual cl_mem	getAabbBufferWS();
	virtual int	getNumOverlap();
	virtual cl_mem	getOverlappingPairBuffer();
	
	virtual b3OpenCLArray<b3Int4>& getOverlappingPairsGPU();
	virtual b3OpenCLArray<int>& getSmallAabbIndicesGPU();
	virtual b3OpenCLArray<int>& getLargeAabbIndicesGPU();
};

#endif //B3_GPU_SAP_BROADPHASE_H

APT Browse - Built by Thomas Orozco.