bullet3

#include "b3GpuGridBroadphase.h"
#include "Bullet3Geometry/b3AabbUtil.h"
#include "kernels/gridBroadphaseKernels.h"
#include "kernels/sapKernels.h"
//#include "kernels/gridBroadphase.cl"


#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"



#define B3_BROADPHASE_SAP_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/sap.cl"
#define B3_GRID_BROADPHASE_PATH "src/Bullet3OpenCL/BroadphaseCollision/kernels/gridBroadphase.cl"

cl_kernel kCalcHashAABB;
cl_kernel kClearCellStart;
cl_kernel kFindCellStart;
cl_kernel kFindOverlappingPairs;
cl_kernel m_copyAabbsKernel;
cl_kernel m_sap2Kernel;





//int maxPairsPerBody = 64;
int maxBodiesPerCell = 256;//??

b3GpuGridBroadphase::b3GpuGridBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q )
:m_context(ctx),
m_device(device),
m_queue(q),
m_allAabbsGPU1(ctx,q),
m_smallAabbsMappingGPU(ctx,q),
m_largeAabbsMappingGPU(ctx,q),
m_gpuPairs(ctx,q),

m_hashGpu(ctx,q),

m_cellStartGpu(ctx,q),
m_paramsGPU(ctx,q)
{

	
	b3Vector3 gridSize = b3MakeVector3(3,3,3);
	b3Vector3 invGridSize = b3MakeVector3(1.f/gridSize[0],1.f/gridSize[1],1.f/gridSize[2]);

	m_paramsCPU.m_gridSize[0] = 128;
	m_paramsCPU.m_gridSize[1] = 128;
	m_paramsCPU.m_gridSize[2] = 128;
	m_paramsCPU.m_gridSize[3] = maxBodiesPerCell;
	m_paramsCPU.setMaxBodiesPerCell(maxBodiesPerCell);
	m_paramsCPU.m_invCellSize[0] = invGridSize[0];
	m_paramsCPU.m_invCellSize[1] = invGridSize[1];
	m_paramsCPU.m_invCellSize[2] = invGridSize[2];
	m_paramsCPU.m_invCellSize[3] = 0.f;
	m_paramsGPU.push_back(m_paramsCPU);

	cl_int errNum=0;

	{
		const char* sapSrc = sapCL;
		cl_program sapProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,sapSrc,&errNum,"",B3_BROADPHASE_SAP_PATH);
		b3Assert(errNum==CL_SUCCESS);
		m_copyAabbsKernel= b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "copyAabbsKernel",&errNum,sapProg );
		m_sap2Kernel = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,sapSrc, "computePairsKernelTwoArrays",&errNum,sapProg );
		b3Assert(errNum==CL_SUCCESS);
	}

	{
		
		cl_program gridProg = b3OpenCLUtils::compileCLProgramFromString(m_context,m_device,gridBroadphaseCL,&errNum,"",B3_GRID_BROADPHASE_PATH);
		b3Assert(errNum==CL_SUCCESS);

		kCalcHashAABB = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kCalcHashAABB",&errNum,gridProg);
		b3Assert(errNum==CL_SUCCESS);
	
		kClearCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kClearCellStart",&errNum,gridProg);
		b3Assert(errNum==CL_SUCCESS);

		kFindCellStart = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindCellStart",&errNum,gridProg);
		b3Assert(errNum==CL_SUCCESS);

	
		kFindOverlappingPairs = b3OpenCLUtils::compileCLKernelFromString(m_context, m_device,gridBroadphaseCL, "kFindOverlappingPairs",&errNum,gridProg);
		b3Assert(errNum==CL_SUCCESS);

		
		
		
	}

	m_sorter = new b3RadixSort32CL(m_context,m_device,m_queue);

}
b3GpuGridBroadphase::~b3GpuGridBroadphase()
{
	clReleaseKernel( kCalcHashAABB);
	clReleaseKernel( kClearCellStart);
	clReleaseKernel( kFindCellStart);
	clReleaseKernel( kFindOverlappingPairs);
	clReleaseKernel( m_sap2Kernel);
	clReleaseKernel( m_copyAabbsKernel);
	
	
	
	delete m_sorter;
}



void b3GpuGridBroadphase::createProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
	b3SapAabb aabb;
	aabb.m_minVec = aabbMin;
	aabb.m_maxVec = aabbMax;
	aabb.m_minIndices[3] = userPtr;
	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
	m_smallAabbsMappingCPU.push_back(m_allAabbsCPU1.size());

	m_allAabbsCPU1.push_back(aabb);

}
void b3GpuGridBroadphase::createLargeProxy(const b3Vector3& aabbMin,  const b3Vector3& aabbMax, int userPtr , int collisionFilterGroup, int collisionFilterMask)
{
	b3SapAabb aabb;
	aabb.m_minVec = aabbMin;
	aabb.m_maxVec = aabbMax;
	aabb.m_minIndices[3] = userPtr;
	aabb.m_signedMaxIndices[3] = m_allAabbsCPU1.size();//NOT userPtr;
	m_largeAabbsMappingCPU.push_back(m_allAabbsCPU1.size());

	m_allAabbsCPU1.push_back(aabb);
}

void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
{
	B3_PROFILE("b3GpuGridBroadphase::calculateOverlappingPairs");
	

	if (0)
	{
		calculateOverlappingPairsHost(maxPairs);
	/*
		b3AlignedObjectArray<b3Int4> cpuPairs;
		m_gpuPairs.copyToHost(cpuPairs);
		printf("host m_gpuPairs.size()=%d\n",m_gpuPairs.size());
		for (int i=0;i<m_gpuPairs.size();i++)
		{
			printf("host pair %d = %d,%d\n",i,cpuPairs[i].x,cpuPairs[i].y);
		}
		*/
		return;
	}
	
	


	
	int numSmallAabbs = m_smallAabbsMappingGPU.size();

	b3OpenCLArray<int> pairCount(m_context,m_queue);
	pairCount.push_back(0);
	m_gpuPairs.resize(maxPairs);//numSmallAabbs*maxPairsPerBody);

	{
		int numLargeAabbs = m_largeAabbsMappingGPU.size();
		if (numLargeAabbs && numSmallAabbs)
		{
			B3_PROFILE("sap2Kernel");
			b3BufferInfoCL bInfo[] = { 
				b3BufferInfoCL( m_allAabbsGPU1.getBufferCL() ),
				b3BufferInfoCL( m_largeAabbsMappingGPU.getBufferCL() ),
				b3BufferInfoCL( m_smallAabbsMappingGPU.getBufferCL() ), 
				b3BufferInfoCL( m_gpuPairs.getBufferCL() ), 
				b3BufferInfoCL(pairCount.getBufferCL())};
			b3LauncherCL launcher(m_queue, m_sap2Kernel,"m_sap2Kernel");
			launcher.setBuffers( bInfo, sizeof(bInfo)/sizeof(b3BufferInfoCL) );
			launcher.setConst(   numLargeAabbs  );
			launcher.setConst( numSmallAabbs);
			launcher.setConst( 0  );//axis is not used
			launcher.setConst( maxPairs  );
	//@todo: use actual maximum work item sizes of the device instead of hardcoded values
			launcher.launch2D( numLargeAabbs, numSmallAabbs,4,64);
                
			int numPairs = pairCount.at(0);
			
			if (numPairs >maxPairs)
			{
				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
				numPairs =maxPairs;
			}
		}
	}




	if (numSmallAabbs)
	{
		B3_PROFILE("gridKernel");
		m_hashGpu.resize(numSmallAabbs);
		{
			B3_PROFILE("kCalcHashAABB");
			b3LauncherCL launch(m_queue,kCalcHashAABB,"kCalcHashAABB");
			launch.setConst(numSmallAabbs);
			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
			launch.setBuffer(m_hashGpu.getBufferCL());
			launch.setBuffer(this->m_paramsGPU.getBufferCL());
			launch.launch1D(numSmallAabbs);
		}

		m_sorter->execute(m_hashGpu);
		
		int numCells = this->m_paramsCPU.m_gridSize[0]*this->m_paramsCPU.m_gridSize[1]*this->m_paramsCPU.m_gridSize[2];
		m_cellStartGpu.resize(numCells);
		//b3AlignedObjectArray<int >			cellStartCpu;
				
		
		{
			B3_PROFILE("kClearCellStart");
			b3LauncherCL launch(m_queue,kClearCellStart,"kClearCellStart");
			launch.setConst(numCells);
			launch.setBuffer(m_cellStartGpu.getBufferCL());
			launch.launch1D(numCells);
			//m_cellStartGpu.copyToHost(cellStartCpu);
			//printf("??\n");

		}


		{
			B3_PROFILE("kFindCellStart");
			b3LauncherCL launch(m_queue,kFindCellStart,"kFindCellStart");
			launch.setConst(numSmallAabbs);
			launch.setBuffer(m_hashGpu.getBufferCL());
			launch.setBuffer(m_cellStartGpu.getBufferCL());
			launch.launch1D(numSmallAabbs);
			//m_cellStartGpu.copyToHost(cellStartCpu);
			//printf("??\n");

		}
		
		{
			B3_PROFILE("kFindOverlappingPairs");
			
			
			b3LauncherCL launch(m_queue,kFindOverlappingPairs,"kFindOverlappingPairs");
			launch.setConst(numSmallAabbs);
			launch.setBuffer(m_allAabbsGPU1.getBufferCL());
			launch.setBuffer(m_smallAabbsMappingGPU.getBufferCL());
			launch.setBuffer(m_hashGpu.getBufferCL());
			launch.setBuffer(m_cellStartGpu.getBufferCL());
			
			launch.setBuffer(m_paramsGPU.getBufferCL());
			//launch.setBuffer(0);
			launch.setBuffer(pairCount.getBufferCL());
			launch.setBuffer(m_gpuPairs.getBufferCL());
			
			launch.setConst(maxPairs);
			launch.launch1D(numSmallAabbs);
			

			int numPairs = pairCount.at(0);
			if (numPairs >maxPairs)
			{
				b3Error("Error running out of pairs: numPairs = %d, maxPairs = %d.\n", numPairs, maxPairs);
				numPairs =maxPairs;
			}
			
			m_gpuPairs.resize(numPairs);
	
			if (0)
			{
				b3AlignedObjectArray<b3Int4> pairsCpu;
				m_gpuPairs.copyToHost(pairsCpu);

				int sz = m_gpuPairs.size();
				printf("m_gpuPairs.size()=%d\n",sz);
				for (int i=0;i<m_gpuPairs.size();i++)
				{
					printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y);
				}

				printf("?!?\n");
			}
			
		}
	

	}

	



	//calculateOverlappingPairsHost(maxPairs);
}
void  b3GpuGridBroadphase::calculateOverlappingPairsHost(int maxPairs)
{

	m_hostPairs.resize(0);
	m_allAabbsGPU1.copyToHost(m_allAabbsCPU1);
	for (int i=0;i<m_allAabbsCPU1.size();i++)
	{
		for (int j=i+1;j<m_allAabbsCPU1.size();j++)
		{
			if (b3TestAabbAgainstAabb2(m_allAabbsCPU1[i].m_minVec, m_allAabbsCPU1[i].m_maxVec,
				m_allAabbsCPU1[j].m_minVec,m_allAabbsCPU1[j].m_maxVec))
			{
				b3Int4 pair;
				int a = m_allAabbsCPU1[j].m_minIndices[3];
				int b = m_allAabbsCPU1[i].m_minIndices[3];
				if (a<=b)
				{
					pair.x = a; 
					pair.y = b;//store the original index in the unsorted aabb array
				} else
				{
					pair.x = b;
					pair.y = a;//store the original index in the unsorted aabb array
				}
					
				if (m_hostPairs.size()<maxPairs)
				{
					m_hostPairs.push_back(pair);
				}
			}
		}
	}


	m_gpuPairs.copyFromHost(m_hostPairs);


}

	//call writeAabbsToGpu after done making all changes (createProxy etc)
void b3GpuGridBroadphase::writeAabbsToGpu()
{
	m_allAabbsGPU1.copyFromHost(m_allAabbsCPU1);
	m_smallAabbsMappingGPU.copyFromHost(m_smallAabbsMappingCPU);
	m_largeAabbsMappingGPU.copyFromHost(m_largeAabbsMappingCPU);

}

cl_mem	b3GpuGridBroadphase::getAabbBufferWS()
{
	return this->m_allAabbsGPU1.getBufferCL();
}
int	b3GpuGridBroadphase::getNumOverlap()
{
	return m_gpuPairs.size();
}
cl_mem	b3GpuGridBroadphase::getOverlappingPairBuffer()
{
	return m_gpuPairs.getBufferCL();
}

b3OpenCLArray<b3SapAabb>&	b3GpuGridBroadphase::getAllAabbsGPU()
{
	return m_allAabbsGPU1;
}

b3AlignedObjectArray<b3SapAabb>&	b3GpuGridBroadphase::getAllAabbsCPU()
{
	return m_allAabbsCPU1;
}

b3OpenCLArray<b3Int4>& b3GpuGridBroadphase::getOverlappingPairsGPU()
{
	return m_gpuPairs;
}
b3OpenCLArray<int>& b3GpuGridBroadphase::getSmallAabbIndicesGPU()
{
	return m_smallAabbsMappingGPU;
}
b3OpenCLArray<int>& b3GpuGridBroadphase::getLargeAabbIndicesGPU()
{
	return m_largeAabbsMappingGPU;
}