void btParticlesDynamicsWorld::runComputeCellIdKernel()
{
cl_int ciErrNum;
#if 0
if(m_useCpuControls[SIMSTAGE_COMPUTE_CELL_ID]->m_active)
{ // CPU version
unsigned int memSize = sizeof(btVector3) * m_numParticles;
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPos, CL_TRUE, 0, memSize, &(m_hPos[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
for(int index = 0; index < m_numParticles; index++)
{
btVector3 pos = m_hPos[index];
btInt4 gridPos = cpu_getGridPos(pos, &m_simParams);
unsigned int hash = cpu_getPosHash(gridPos, &m_simParams);
m_hPosHash[index].x = hash;
m_hPosHash[index].y = index;
}
memSize = sizeof(btInt2) * m_numParticles;
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dPosHash, CL_TRUE, 0, memSize, &(m_hPosHash[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
else
#endif
{
BT_PROFILE("ComputeCellId");
runKernelWithWorkgroupSize(PARTICLES_KERNEL_COMPUTE_CELL_ID, m_numParticles);
ciErrNum = clFinish(m_cqCommandQue);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
/*
// check
int memSize = sizeof(btInt2) * m_hashSize;
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPosHash, CL_TRUE, 0, memSize, &(m_hPosHash[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
memSize = sizeof(float) * 4 * m_numParticles;
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPos, CL_TRUE, 0, memSize, &(m_hPos[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
*/
{
BT_PROFILE("Copy VBO");
// Explicit Copy (until OpenGL interop will work)
// map the PBO to copy data from the CL buffer via host
glBindBufferARB(GL_ARRAY_BUFFER, m_vbo);
// map the buffer object into client's memory
void* ptr = glMapBufferARB(GL_ARRAY_BUFFER, GL_WRITE_ONLY_ARB);
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPos, CL_TRUE, 0, sizeof(float) * 4 * m_numParticles, ptr, 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
glUnmapBufferARB(GL_ARRAY_BUFFER);
glBindBufferARB(GL_ARRAY_BUFFER,0);
}
}
void btParticlesDynamicsWorld::runIntegrateMotionKernel()
{
cl_int ciErrNum;
if(m_useCpuControls[SIMSTAGE_INTEGRATE_MOTION]->m_active)
{
// CPU version
#if 1
// read from GPU
unsigned int memSize = sizeof(btVector3) * m_numParticles;
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPos, CL_TRUE, 0, memSize, &(m_hPos[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dVel, CL_TRUE, 0, memSize, &(m_hVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
for(int index = 0; index < m_numParticles; index++)
{
btVector3 pos = m_hPos[index];
btVector3 vel = m_hVel[index];
pos[3] = 1.0f;
vel[3] = 0.0f;
// apply gravity
btVector3 gravity = *((btVector3*)(m_simParams.m_gravity));
float particleRad = m_simParams.m_particleRad;
float globalDamping = m_simParams.m_globalDamping;
float boundaryDamping = m_simParams.m_boundaryDamping;
vel += gravity * m_timeStep;
vel *= globalDamping;
// integrate position
pos += vel * m_timeStep;
// collide with world boundaries
btVector3 worldMin = *((btVector3*)(m_simParams.m_worldMin));
btVector3 worldMax = *((btVector3*)(m_simParams.m_worldMax));
for(int j = 0; j < 3; j++)
{
if(pos[j] < (worldMin[j] + particleRad))
{
pos[j] = worldMin[j] + particleRad;
vel[j] *= boundaryDamping;
}
if(pos[j] > (worldMax[j] - particleRad))
{
pos[j] = worldMax[j] - particleRad;
vel[j] *= boundaryDamping;
}
}
// write back position and velocity
m_hPos[index] = pos;
m_hVel[index] = vel;
}
#endif
// write back to GPU
memSize = sizeof(btVector3) * m_numParticles;
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dPos, CL_TRUE, 0, memSize, &(m_hPos[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dVel, CL_TRUE, 0, memSize, &(m_hVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
else
{
// Set work size and execute the kernel
ciErrNum = clSetKernelArg(m_kernels[PARTICLES_KERNEL_INTEGRATE_MOTION].m_kernel, 4, sizeof(float), &m_timeStep);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
runKernelWithWorkgroupSize(PARTICLES_KERNEL_INTEGRATE_MOTION, m_numParticles);
ciErrNum = clFinish(m_cqCommandQue);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
}
void btParticlesDynamicsWorld::runCollideParticlesKernel()
{
cl_int ciErrNum;
if(m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES]->m_active)
{ // CPU version
int memSize = sizeof(btVector3) * m_numParticles;
{
BT_PROFILE("Copy from GPU");
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dSortedPos, CL_TRUE, 0, memSize, &(m_hSortedPos[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dSortedVel, CL_TRUE, 0, memSize, &(m_hSortedVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
memSize = sizeof(btInt2) * m_numParticles;
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPosHash, CL_TRUE, 0, memSize, &(m_hPosHash[0]), 0, NULL, NULL);
memSize = m_numGridCells * sizeof(int);
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dCellStart, CL_TRUE, 0, memSize, &(m_hCellStart[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
for(int index = 0; index < m_numParticles; index++)
{
btVector3 posA = m_hSortedPos[index];
btVector3 velA = m_hSortedVel[index];
btVector3 force = btVector3(0, 0, 0);
float particleRad = m_simParams.m_particleRad;
float collisionDamping = m_simParams.m_collisionDamping;
float spring = m_simParams.m_spring;
float shear = m_simParams.m_shear;
float attraction = m_simParams.m_attraction;
int unsortedIndex = m_hPosHash[index].y;
//Get address in grid
btInt4 gridPosA = cpu_getGridPos(posA, &m_simParams);
//Accumulate surrounding cells
btInt4 gridPosB;
for(int z = -1; z <= 1; z++)
{
gridPosB.z = gridPosA.z + z;
for(int y = -1; y <= 1; y++)
{
gridPosB.y = gridPosA.y + y;
for(int x = -1; x <= 1; x++)
{
gridPosB.x = gridPosA.x + x;
//Get start particle index for this cell
unsigned int hashB = cpu_getPosHash(gridPosB, &m_simParams);
int startI = m_hCellStart[hashB];
//Skip empty cell
if(startI < 0)
{
continue;
}
//Iterate over particles in this cell
int endI = startI + 8;
for(int j = startI; j < endI; j++)
{
unsigned int hashC = m_hPosHash[j].x;
if(hashC != hashB)
{
break;
}
if(j == index)
{
continue;
}
btVector3 posB = m_hSortedPos[j];
btVector3 velB = m_hSortedVel[j];
//Collide two spheres
force += cpu_collideTwoParticles( posA, posB, velA, velB, particleRad, particleRad,
spring, collisionDamping, shear, attraction);
}
}
}
}
//Write new velocity back to original unsorted location
m_hVel[unsortedIndex] = velA + force;
}
memSize = sizeof(btVector3) * m_numParticles;
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dVel, CL_TRUE, 0, memSize, &(m_hVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
else
{
runKernelWithWorkgroupSize(PARTICLES_KERNEL_COLLIDE_PARTICLES, m_numParticles);
cl_int ciErrNum = clFinish(m_cqCommandQue);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
}
void btParticlesDynamicsWorld::runCollideParticlesKernel()
{
btAlignedObjectArray<int> pairs;
float particleRad = m_simParams.m_particleRad;
float collideDist2 = (particleRad + particleRad)*(particleRad + particleRad);
cl_int ciErrNum;
if(m_useCpuControls[SIMSTAGE_COLLIDE_PARTICLES]->m_active)
{ // CPU version
int memSize = sizeof(btVector3) * m_numParticles;
{
BT_PROFILE("Copy from GPU");
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dSortedPos, CL_TRUE, 0, memSize, &(m_hSortedPos[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dSortedVel, CL_TRUE, 0, memSize, &(m_hSortedVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
memSize = sizeof(btInt2) * m_numParticles;
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dPosHash, CL_TRUE, 0, memSize, &(m_hPosHash[0]), 0, NULL, NULL);
memSize = m_numGridCells * sizeof(int);
ciErrNum = clEnqueueReadBuffer(m_cqCommandQue, m_dCellStart, CL_TRUE, 0, memSize, &(m_hCellStart[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
for(int index = 0; index < m_numParticles; index++)
{
btVector3 posA = m_hSortedPos[index];
btVector3 velA = m_hSortedVel[index];
btVector3 force = btVector3(0, 0, 0);
float particleRad = m_simParams.m_particleRad;
float collisionDamping = m_simParams.m_collisionDamping;
float spring = m_simParams.m_spring;
float shear = m_simParams.m_shear;
float attraction = m_simParams.m_attraction;
int unsortedIndex = m_hPosHash[index].y;
//Get address in grid
btInt4 gridPosA = cpu_getGridPos(posA, &m_simParams);
//Accumulate surrounding cells
btInt4 gridPosB;
for(int z = -1; z <= 1; z++)
{
gridPosB.z = gridPosA.z + z;
for(int y = -1; y <= 1; y++)
{
gridPosB.y = gridPosA.y + y;
for(int x = -1; x <= 1; x++)
{
gridPosB.x = gridPosA.x + x;
//Get start particle index for this cell
unsigned int hashB = cpu_getPosHash(gridPosB, &m_simParams);
int startI = m_hCellStart[hashB];
//Skip empty cell
if(startI < 0)
{
continue;
}
//Iterate over particles in this cell
int endI = startI + 32;
if(endI > m_numParticles)
endI = m_numParticles;
for(int j = startI; j < endI; j++)
{
unsigned int hashC = m_hPosHash[j].x;
if(hashC != hashB)
{
break;
}
if(j == index)
{
continue;
}
btPair pair;
pair.v0[0] = index;
pair.v0[1] = j;
pairs.push_back(pair.value);
// printf("index=%d, j=%d\n",index,j);
// printf("(index=%d, j=%d) ",index,j);
btVector3 posB = m_hSortedPos[j];
btVector3 velB = m_hSortedVel[j];
//Collide two spheres
force += cpu_collideTwoParticles( posA, posB, velA, velB, particleRad, particleRad,
spring, collisionDamping, shear, attraction);
}
}
}
}
//Write new velocity back to original unsorted location
m_hVel[unsortedIndex] = velA + force;
}
//#define BRUTE_FORCE_CHECK 1
#ifdef BRUTE_FORCE_CHECK
for(int index = 0; index < m_numParticles; index++)
{
btVector3 posA = m_hSortedPos[index];
btVector3 velA = m_hSortedVel[index];
btVector3 force = btVector3(0, 0, 0);
int unsortedIndex = m_hPosHash[index].y;
float collisionDamping = m_simParams.m_collisionDamping;
float spring = m_simParams.m_spring;
float shear = m_simParams.m_shear;
float attraction = m_simParams.m_attraction;
for(int j = 0 ; j < m_numParticles; j++)
{
if (index!=j)
{
btVector3 posB = m_hSortedPos[j];
btVector3 velB = m_hSortedVel[j];
btVector3 relPos = posB - posA; relPos[3] = 0.f;
float dist2 = (relPos[0] * relPos[0] + relPos[1] * relPos[1] + relPos[2] * relPos[2]);
if(dist2 < collideDist2)
{
//Collide two spheres
// force += cpu_collideTwoParticles( posA, posB, velA, velB, particleRad, particleRad,
// spring, collisionDamping, shear, attraction);
btPair pair;
pair.v0[0] = index;
pair.v0[1] = j;
if (pairs.findLinearSearch(pair.value)==pairs.size())
{
printf("not found index=%d, j=%d\n",index,j);
}
}
}
}
//Write new velocity back to original unsorted location
//m_hVel[unsortedIndex] = velA + force;
}
#endif //BRUTE_FORCE_CHECK
memSize = sizeof(btVector3) * m_numParticles;
ciErrNum = clEnqueueWriteBuffer(m_cqCommandQue, m_dVel, CL_TRUE, 0, memSize, &(m_hVel[0]), 0, NULL, NULL);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
else
{
runKernelWithWorkgroupSize(PARTICLES_KERNEL_COLLIDE_PARTICLES, m_numParticles);
cl_int ciErrNum = clFinish(m_cqCommandQue);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
}
}