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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl | 767 |
1 files changed, 0 insertions, 767 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl deleted file mode 100644 index c375b9bf37..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl +++ /dev/null @@ -1,767 +0,0 @@ -/* -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -//Initial Author Jackson Lee, 2014 - -typedef float b3Scalar; -typedef float4 b3Vector3; -#define b3Max max -#define b3Min min -#define b3Sqrt sqrt - -typedef struct -{ - unsigned int m_key; - unsigned int m_value; -} SortDataCL; - -typedef struct -{ - union - { - float4 m_min; - float m_minElems[4]; - int m_minIndices[4]; - }; - union - { - float4 m_max; - float m_maxElems[4]; - int m_maxIndices[4]; - }; -} b3AabbCL; - - -unsigned int interleaveBits(unsigned int x) -{ - //........ ........ ......12 3456789A //x - //....1..2 ..3..4.. 5..6..7. .8..9..A //x after interleaving bits - - //......12 3456789A ......12 3456789A //x ^ (x << 16) - //11111111 ........ ........ 11111111 //0x FF 00 00 FF - //......12 ........ ........ 3456789A //x = (x ^ (x << 16)) & 0xFF0000FF; - - //......12 ........ 3456789A 3456789A //x ^ (x << 8) - //......11 ........ 1111.... ....1111 //0x 03 00 F0 0F - //......12 ........ 3456.... ....789A //x = (x ^ (x << 8)) & 0x0300F00F; - - //..12..12 ....3456 3456.... 789A789A //x ^ (x << 4) - //......11 ....11.. ..11.... 11....11 //0x 03 0C 30 C3 - //......12 ....34.. ..56.... 78....9A //x = (x ^ (x << 4)) & 0x030C30C3; - - //....1212 ..3434.. 5656..78 78..9A9A //x ^ (x << 2) - //....1..1 ..1..1.. 1..1..1. .1..1..1 //0x 09 24 92 49 - //....1..2 ..3..4.. 5..6..7. .8..9..A //x = (x ^ (x << 2)) & 0x09249249; - - //........ ........ ......11 11111111 //0x000003FF - x &= 0x000003FF; //Clear all bits above bit 10 - - x = (x ^ (x << 16)) & 0xFF0000FF; - x = (x ^ (x << 8)) & 0x0300F00F; - x = (x ^ (x << 4)) & 0x030C30C3; - x = (x ^ (x << 2)) & 0x09249249; - - return x; -} -unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z) -{ - return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2; -} - -__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate) -{ - int separatedAabbIndex = get_global_id(0); - if(separatedAabbIndex >= numAabbsToSeparate) return; - - int unseparatedAabbIndex = aabbIndices[separatedAabbIndex]; - out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex]; -} - -//Should replace with an optimized parallel reduction -__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge) -{ - //Each time this kernel is added to the command queue, - //the number of AABBs needing to be merged is halved - // - //Example with 159 AABBs: - // numRemainingAabbs == 159 / 2 + 159 % 2 == 80 - // numMergedAabbs == 159 - 80 == 79 - //So, indices [0, 78] are merged with [0 + 80, 78 + 80] - - int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2; - int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs; - - int aabbIndex = get_global_id(0); - if(aabbIndex >= numMergedAabbs) return; - - int otherAabbIndex = aabbIndex + numRemainingAabbs; - - b3AabbCL aabb = out_mergedAabb[aabbIndex]; - b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex]; - - b3AabbCL mergedAabb; - mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min); - mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max); - out_mergedAabb[aabbIndex] = mergedAabb; -} - -__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, - __global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs) -{ - int leafNodeIndex = get_global_id(0); //Leaf node index == AABB index - if(leafNodeIndex >= numAabbs) return; - - b3AabbCL mergedAabb = mergedAabbOfAllNodes[0]; - b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f; - b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024; - - b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex]; - b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f; - b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter; - - //Quantize into integer coordinates - //floor() is needed to prevent the center cell, at (0,0,0) from being twice the size - b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize; - - int4 discretePosition; - discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) ); - discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) ); - discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) ); - - //Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023] - discretePosition = b3Max( -512, b3Min(discretePosition, 511) ); - discretePosition += 512; - - //Interleave bits(assign a morton code, also known as a z-curve) - unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z); - - // - SortDataCL mortonCodeIndexPair; - mortonCodeIndexPair.m_key = mortonCode; - mortonCodeIndexPair.m_value = leafNodeIndex; - - out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair; -} - -#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128 - -//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes. -//If it is set, then the index is for an internal node; otherwise, it is a leaf node. -//In both cases, the bit should be cleared to access the actual node index. -int isLeafNode(int index) { return (index >> 31 == 0); } -int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); } -int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); } - -//From sap.cl -#define NEW_PAIR_MARKER -1 - -bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2) -{ - bool overlap = true; - overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap; - overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap; - overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap; - return overlap; -} -//From sap.cl - -__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, - - __global int* rootNodeIndex, - __global int2* internalNodeChildIndices, - __global b3AabbCL* internalNodeAabbs, - __global int2* internalNodeLeafIndexRanges, - - __global SortDataCL* mortonCodesAndAabbIndices, - __global int* out_numPairs, __global int4* out_overlappingPairs, - int maxPairs, int numQueryAabbs) -{ - //Using get_group_id()/get_local_id() is Faster than get_global_id(0) since - //mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent) - int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0); - if(queryBvhNodeIndex >= numQueryAabbs) return; - - int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value; - b3AabbCL queryAabb = rigidAabbs[queryRigidIndex]; - - int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE]; - - int stackSize = 1; - stack[0] = *rootNodeIndex; - - while(stackSize) - { - int internalOrLeafNodeIndex = stack[ stackSize - 1 ]; - --stackSize; - - int isLeaf = isLeafNode(internalOrLeafNodeIndex); //Internal node if false - int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex); - - //Optimization - if the BVH is structured as a binary radix tree, then - //each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]). - //This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself. - { - int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y; - if(highestLeafIndex <= queryBvhNodeIndex) continue; - } - - //bvhRigidIndex is not used if internal node - int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1; - - b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex]; - if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) ) - { - if(isLeaf) - { - int4 pair; - pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3]; - pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3]; - pair.z = NEW_PAIR_MARKER; - pair.w = NEW_PAIR_MARKER; - - int pairIndex = atomic_inc(out_numPairs); - if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair; - } - - if(!isLeaf) //Internal node - { - if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE) - { - //Error - } - else - { - stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x; - stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y; - } - } - } - - } -} - - -//From rayCastKernels.cl -typedef struct -{ - float4 m_from; - float4 m_to; -} b3RayInfo; -//From rayCastKernels.cl - -b3Vector3 b3Vector3_normalize(b3Vector3 v) -{ - b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f}; - return normalize(normal); //OpenCL normalize == vector4 normalize -} -b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; } -b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; } - -int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb) -{ - //AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ). - //t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane. - // - //if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane - //and min.x will be the far plane; otherwise, it is reversed. - // - //In order for there to be a collision, the t_min and t_max of each pair must overlap. - //This can be tested for by selecting the highest t_min and lowest t_max and comparing them. - - int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) ); //isless(x,y) returns (x < y) - - //When using vector types, the select() function checks the most signficant bit, - //but isless() sets the least significant bit. - isNegative <<= 31; - - //select(b, a, condition) == condition ? a : b - //When using select() with vector types, (condition[i]) is true if its most significant bit is 1 - b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection; - b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection; - - b3Scalar t_min_final = 0.0f; - b3Scalar t_max_final = rayLength; - - //Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. - //Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4]) - //Since the innermost fmin()/fmax() is always not NaN, this should never return NaN. - t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) ); - t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) ); - - return (t_min_final <= t_max_final); -} - -__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs, - - __global int* rootNodeIndex, - __global int2* internalNodeChildIndices, - __global b3AabbCL* internalNodeAabbs, - __global int2* internalNodeLeafIndexRanges, - __global SortDataCL* mortonCodesAndAabbIndices, - - __global b3RayInfo* rays, - - __global int* out_numRayRigidPairs, - __global int2* out_rayRigidPairs, - int maxRayRigidPairs, int numRays) -{ - int rayIndex = get_global_id(0); - if(rayIndex >= numRays) return; - - // - b3Vector3 rayFrom = rays[rayIndex].m_from; - b3Vector3 rayTo = rays[rayIndex].m_to; - b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom); - b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) ); - - // - int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE]; - - int stackSize = 1; - stack[0] = *rootNodeIndex; - - while(stackSize) - { - int internalOrLeafNodeIndex = stack[ stackSize - 1 ]; - --stackSize; - - int isLeaf = isLeafNode(internalOrLeafNodeIndex); //Internal node if false - int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex); - - //bvhRigidIndex is not used if internal node - int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1; - - b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex]; - if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb) ) - { - if(isLeaf) - { - int2 rayRigidPair; - rayRigidPair.x = rayIndex; - rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3]; - - int pairIndex = atomic_inc(out_numRayRigidPairs); - if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair; - } - - if(!isLeaf) //Internal node - { - if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE) - { - //Error - } - else - { - stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x; - stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y; - } - } - } - } -} - -__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, - __global int* out_numPairs, __global int4* out_overlappingPairs, - int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids) -{ - int smallAabbIndex = get_global_id(0); - if(smallAabbIndex >= numSmallAabbRigids) return; - - b3AabbCL smallAabb = smallAabbs[smallAabbIndex]; - for(int i = 0; i < numLargeAabbRigids; ++i) - { - b3AabbCL largeAabb = largeAabbs[i]; - if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) ) - { - int4 pair; - pair.x = largeAabb.m_minIndices[3]; - pair.y = smallAabb.m_minIndices[3]; - pair.z = NEW_PAIR_MARKER; - pair.w = NEW_PAIR_MARKER; - - int pairIndex = atomic_inc(out_numPairs); - if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair; - } - } -} -__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays, - __global int* out_numRayRigidPairs, __global int2* out_rayRigidPairs, - int numLargeAabbRigids, int maxRayRigidPairs, int numRays) -{ - int rayIndex = get_global_id(0); - if(rayIndex >= numRays) return; - - b3Vector3 rayFrom = rays[rayIndex].m_from; - b3Vector3 rayTo = rays[rayIndex].m_to; - b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom); - b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) ); - - for(int i = 0; i < numLargeAabbRigids; ++i) - { - b3AabbCL rigidAabb = largeRigidAabbs[i]; - if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) ) - { - int2 rayRigidPair; - rayRigidPair.x = rayIndex; - rayRigidPair.y = rigidAabb.m_minIndices[3]; - - int pairIndex = atomic_inc(out_numRayRigidPairs); - if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair; - } - } -} - - -//Set so that it is always greater than the actual common prefixes, and never selected as a parent node. -//If there are no duplicates, then the highest common prefix is 32 or 64, depending on the number of bits used for the z-curve. -//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node. -//Since 32 bit ints are used to index leaf nodes, the max prefix is 64(32 + 32 bit z-curve) or 96(32 + 64 bit z-curve). -#define B3_PLBVH_INVALID_COMMON_PREFIX 128 - -#define B3_PLBVH_ROOT_NODE_MARKER -1 - -#define b3Int64 long - -int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); } -b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) -{ - //This function only needs to return (i & j) in order for the algorithm to work, - //but it may help with debugging to mask out the lower bits. - - b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j); - - b3Int64 sharedBits = i & j; - b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength); //Set all bits after the common prefix to 0 - - return sharedBits & bitmask; -} - -//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths -int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB) -{ - return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) ); -} - -__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices, - __global b3Int64* out_commonPrefixes, - __global int* out_commonPrefixLengths, - int numInternalNodes) -{ - int internalNodeIndex = get_global_id(0); - if (internalNodeIndex >= numInternalNodes) return; - - //Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index, - //and the number of internal nodes is always numLeafNodes - 1 - int leftLeafIndex = internalNodeIndex; - int rightLeafIndex = internalNodeIndex + 1; - - int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key; - int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key; - - //Binary radix tree construction algorithm does not work if there are duplicate morton codes. - //Append the index of each leaf node to each morton code so that there are no duplicates. - //The algorithm also requires that the morton codes are sorted in ascending order; this requirement - //is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true. - // - //upsample(a, b) == ( ((b3Int64)a) << 32) | b - b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex); - b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex); - - out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode); - out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode); -} - - -__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes, - __global int2* out_childNodes, int numLeafNodes) -{ - int leafNodeIndex = get_global_id(0); - if (leafNodeIndex >= numLeafNodes) return; - - int numInternalNodes = numLeafNodes - 1; - - int leftSplitIndex = leafNodeIndex - 1; - int rightSplitIndex = leafNodeIndex; - - int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX; - int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX; - - //Parent node is the highest adjacent common prefix that is lower than the node's common prefix - //Leaf nodes are considered as having the highest common prefix - int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix); - - //Handle cases for the edge nodes; the first and last node - //For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX - if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false; - if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true; - - int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex; - out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex; - - int isRightChild = (isLeftHigherCommonPrefix); //If the left node is the parent, then this node is its right child and vice versa - - //out_childNodesAsInt[0] == int2.x == left child - //out_childNodesAsInt[1] == int2.y == right child - int isLeaf = 1; - __global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]); - out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex); -} - -__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths, - __global int2* out_childNodes, - __global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex, - int numInternalNodes) -{ - int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0); - if(internalNodeIndex >= numInternalNodes) return; - - b3Int64 nodePrefix = commonPrefixes[internalNodeIndex]; - int nodePrefixLength = commonPrefixLengths[internalNodeIndex]; - -//#define USE_LINEAR_SEARCH -#ifdef USE_LINEAR_SEARCH - int leftIndex = -1; - int rightIndex = -1; - - //Find nearest element to left with a lower common prefix - for(int i = internalNodeIndex - 1; i >= 0; --i) - { - int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]); - if(nodeLeftSharedPrefixLength < nodePrefixLength) - { - leftIndex = i; - break; - } - } - - //Find nearest element to right with a lower common prefix - for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i) - { - int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]); - if(nodeRightSharedPrefixLength < nodePrefixLength) - { - rightIndex = i; - break; - } - } - -#else //Use binary search - - //Find nearest element to left with a lower common prefix - int leftIndex = -1; - { - int lower = 0; - int upper = internalNodeIndex - 1; - - while(lower <= upper) - { - int mid = (lower + upper) / 2; - b3Int64 midPrefix = commonPrefixes[mid]; - int midPrefixLength = commonPrefixLengths[mid]; - - int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength); - if(nodeMidSharedPrefixLength < nodePrefixLength) - { - int right = mid + 1; - if(right < internalNodeIndex) - { - b3Int64 rightPrefix = commonPrefixes[right]; - int rightPrefixLength = commonPrefixLengths[right]; - - int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength); - if(nodeRightSharedPrefixLength < nodePrefixLength) - { - lower = right; - leftIndex = right; - } - else - { - leftIndex = mid; - break; - } - } - else - { - leftIndex = mid; - break; - } - } - else upper = mid - 1; - } - } - - //Find nearest element to right with a lower common prefix - int rightIndex = -1; - { - int lower = internalNodeIndex + 1; - int upper = numInternalNodes - 1; - - while(lower <= upper) - { - int mid = (lower + upper) / 2; - b3Int64 midPrefix = commonPrefixes[mid]; - int midPrefixLength = commonPrefixLengths[mid]; - - int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength); - if(nodeMidSharedPrefixLength < nodePrefixLength) - { - int left = mid - 1; - if(left > internalNodeIndex) - { - b3Int64 leftPrefix = commonPrefixes[left]; - int leftPrefixLength = commonPrefixLengths[left]; - - int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength); - if(nodeLeftSharedPrefixLength < nodePrefixLength) - { - upper = left; - rightIndex = left; - } - else - { - rightIndex = mid; - break; - } - } - else - { - rightIndex = mid; - break; - } - } - else lower = mid + 1; - } - } -#endif - - //Select parent - { - int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX; - int rightPrefixLength = (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX; - - int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength); - - if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false; - else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true; - - int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex; - - int isRootNode = (leftIndex == -1 && rightIndex == -1); - out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER; - - int isLeaf = 0; - if(!isRootNode) - { - int isRightChild = (isLeftHigherPrefixLength); //If the left node is the parent, then this node is its right child and vice versa - - //out_childNodesAsInt[0] == int2.x == left child - //out_childNodesAsInt[1] == int2.y == right child - __global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]); - out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex); - } - else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex); - } -} - -__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes, - __global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes) -{ - if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0); - - int internalNodeIndex = get_global_id(0); - if(internalNodeIndex >= numInternalNodes) return; - - // - int distanceFromRoot = 0; - { - int parentIndex = internalNodeParentNodes[internalNodeIndex]; - while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER) - { - parentIndex = internalNodeParentNodes[parentIndex]; - ++distanceFromRoot; - } - } - out_distanceFromRoot[internalNodeIndex] = distanceFromRoot; - - // - __local int localMaxDistanceFromRoot; - if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0; - barrier(CLK_LOCAL_MEM_FENCE); - - atomic_max(&localMaxDistanceFromRoot, distanceFromRoot); - barrier(CLK_LOCAL_MEM_FENCE); - - if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot); -} - -__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices, - __global int2* childNodes, - __global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs, - int maxDistanceFromRoot, int processedDistance, int numInternalNodes) -{ - int internalNodeIndex = get_global_id(0); - if(internalNodeIndex >= numInternalNodes) return; - - int distance = distanceFromRoot[internalNodeIndex]; - - if(distance == processedDistance) - { - int leftChildIndex = childNodes[internalNodeIndex].x; - int rightChildIndex = childNodes[internalNodeIndex].y; - - int isLeftChildLeaf = isLeafNode(leftChildIndex); - int isRightChildLeaf = isLeafNode(rightChildIndex); - - leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex); - rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex); - - //leftRigidIndex/rightRigidIndex is not used if internal node - int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1; - int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1; - - b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex]; - b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex]; - - b3AabbCL mergedAabb; - mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min); - mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max); - internalNodeAabbs[internalNodeIndex] = mergedAabb; - } -} - -__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes) -{ - int internalNodeIndex = get_global_id(0); - if(internalNodeIndex >= numInternalNodes) return; - - int numLeafNodes = numInternalNodes + 1; - - int2 childNodes = internalNodeChildNodes[internalNodeIndex]; - - int2 leafIndexRange; //x == min leaf index, y == max leaf index - - //Find lowest leaf index covered by this internal node - { - int lowestIndex = childNodes.x; //childNodes.x == Left child - while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x; - leafIndexRange.x = lowestIndex; - } - - //Find highest leaf index covered by this internal node - { - int highestIndex = childNodes.y; //childNodes.y == Right child - while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y; - leafIndexRange.y = highestIndex; - } - - // - out_leafIndexRanges[internalNodeIndex] = leafIndexRange; -} |