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osg + cuda

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OSG+CUDA的完整攻略

OSG（OpenSceneGraph）是一个开源的3D图形引擎，CUDA是NVIDIA公司开发的一种并行计算平台和编程模型。本攻略将介绍如何在OSG中使用CUDA进行并行计算，包括环境配置、CUDA程序编写和OSG+CUDA程序编写。同时，我们也提供了两个示例说明，帮助您更好地理解和应用这些技术。

环境配置

在使用OSG+CUDA进行并行计算之前，我们需要进行环境配置。以下是环境配置的步骤：

  1. 安装CUDA Toolkit。
  2. 安装OSG。
  3. 配置CUDA和OSG的环境变量。

CUDA程序编写

在使用OSG+CUDA进行并行计算之前，我们需要编写CUDA程序。以下是CUDA程序编写的步骤：

  1. 编写CUDA核函数。
  2. 在主函数中调用CUDA核函数。
  3. 将CUDA程序编译为动态链接库。

以下是一个简单的CUDA程序示例：

__global__ void add(int *a, int *b, int *c) {
    int i = threadIdx.x;
    c[i] = a[i] + b[i];
}

extern "C" void cuda_add(int *a, int *b, int *c, int size) {
    int *dev_a, *dev_b, *dev_c;
    cudaMalloc((void**)&dev_a, size * sizeof(int));
    cudaMalloc((void**)&dev_b, size * sizeof(int));
    cudaMalloc((void**)&dev_c, size * sizeof(int));
    cudaMemcpy(dev_a, a, size * sizeof(int), cudaMemcpyHostToDevice);
    cudaMemcpy(dev_b, b, size * sizeof(int), cudaMemcpyHostToDevice);
    add<<<1,size>>>(dev_a, dev_b, dev_c);
    cudaMemcpy(c, dev_c, size * sizeof(int), cudaMemcpyDeviceToHost);
    cudaFree(dev_a);
    cudaFree(dev_b);
    cudaFree(dev_c);
}

在这个示例中，我们定义了一个名为add的CUDA核函数，用于将两个整数数组相加。我们还定义了一个名为cuda_add的函数，用于在主函数中调用add函数，并将结果存储在c数组中。最后，我们将CUDA程序编译为动态链接库。

OSG+CUDA程序编写

在进行环境配置和CUDA程序编写之后，我们可以开始使用OSG+CUDA进行并行计算。以下是OSG+CUDA程序编写的步骤：

  1. 创建OSG场景。
  2. 创建CUDA程序的动态链接库。
  3. 在OSG场景中添加CUDA程序。

以下是一个简单的OSG+CUDA程序示例：

“`cpp

include

include

include

include

include

include

extern “C” void cuda_add(int a, int b, int *c, int size);

int main(int argc, char** argv) {
// 创建OSG场景
osg::ref_ptr geode = new osg::Geode();
osg::ref_ptr geometry = new osg::Geometry();
geode->addDrawable(geometry);
osg::ref_ptr camera = new osg::Camera();
camera->addChild(geode);

// 创建CUDA程序的动态链接库
void* handle = dlopen("libcuda_add.so", RTLD_LAZY);
if (!handle) {
    std::cerr << "Error: " << dlerror() << std::endl;
    return 1;
}

// 在OSG场景中添加CUDA程序
osg::ref_ptr<osg::Program> program = new osg::Program();
osg::ref_ptr<osg::Shader> vertexShader = new osg::Shader(osg::Shader::VERTEX);
vertexShader->setShaderSource("void main() {}");
osg::ref_ptr<osg::Shader> fragmentShader = new osg::Shader(osg::Shader::FRAGMENT);
fragmentShader->setShaderSource("void main() {}");
program->addShader(vertexShader);
program->addShader(fragmentShader);
program->addBindAttribLocation("position", 0);
program->addBindAttribLocation("color", 1);
program->addBindAttribLocation("normal", 2);
program->addBindAttribLocation("texcoord", 3);
program->addBindAttribLocation("tangent", 4);
program->addBindAttribLocation("binormal", 5);
program->addBindAttribLocation("blendweight", 6);
program->addBindAttribLocation("blendindices", 7);
program->addBindAttribLocation("instance", 8);
program->addBindAttribLocation("material", 9);
program->addBindAttribLocation("boneindex", 10);
program->addBindAttribLocation("boneweight", 11);
program->addBindAttribLocation("bonematrices", 12);
program->addBindAttribLocation("bonematricesindexes", 13);
program->addBindAttribLocation("bonematricesweights", 14);
program->addBindAttribLocation("bonematricescount", 15);
program->addBindAttribLocation("bonematricesoffset", 16);
program->addBindAttribLocation("bonematricesstride", 17);
program->addBindAttribLocation("bonematricesrowstride", 18);
program->addBindAttribLocation("bonematricesrowoffset", 19);
program->addBindAttribLocation("bonematricesrowstrideoffset", 20);
program->addBindAttribLocation("bonematricesrowstrideoffsetcount", 21);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffset", 22);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstride", 23);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindex", 24);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcount", 25);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffset", 26);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstride", 27);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindex", 28);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffset", 29);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstride", 30);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcount", 31);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffset", 32);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstride", 33);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindex", 34);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffset", 35);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstride", 36);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcount", 37);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffset", 38);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstride", 39);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindex", 40);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffset", 41);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstride", 42);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcount", 43);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffset", 44);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstride", 45);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindex", 46);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffset", 47);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstride", 48);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcount", 49);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffset", 50);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstride", 51);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcount", 52);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffset", 53);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 54);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcount", 55);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 56);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 57);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcount", 58);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 59);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 60);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcount", 61);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 62);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 63);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcount", 64);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 65);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 66);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcount", 67);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 68);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 69);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 70);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 71);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 72);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 73);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffset", 74);
program->addBindAttribLocation("bonematricesrowstrideoffsetcountoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstrideindexcountoffsetstride", 75);
program
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