diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h | 729 |
1 files changed, 729 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h new file mode 100644 index 0000000000..5eb8f45b16 --- /dev/null +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h @@ -0,0 +1,729 @@ +//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project +static const char* parallelLinearBvhCL= \ +"/*\n" +"This software is provided 'as-is', without any express or implied warranty.\n" +"In no event will the authors be held liable for any damages arising from the use of this software.\n" +"Permission is granted to anyone to use this software for any purpose,\n" +"including commercial applications, and to alter it and redistribute it freely,\n" +"subject to the following restrictions:\n" +"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.\n" +"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n" +"3. This notice may not be removed or altered from any source distribution.\n" +"*/\n" +"//Initial Author Jackson Lee, 2014\n" +"typedef float b3Scalar;\n" +"typedef float4 b3Vector3;\n" +"#define b3Max max\n" +"#define b3Min min\n" +"#define b3Sqrt sqrt\n" +"typedef struct\n" +"{\n" +" unsigned int m_key;\n" +" unsigned int m_value;\n" +"} SortDataCL;\n" +"typedef struct \n" +"{\n" +" union\n" +" {\n" +" float4 m_min;\n" +" float m_minElems[4];\n" +" int m_minIndices[4];\n" +" };\n" +" union\n" +" {\n" +" float4 m_max;\n" +" float m_maxElems[4];\n" +" int m_maxIndices[4];\n" +" };\n" +"} b3AabbCL;\n" +"unsigned int interleaveBits(unsigned int x)\n" +"{\n" +" //........ ........ ......12 3456789A //x\n" +" //....1..2 ..3..4.. 5..6..7. .8..9..A //x after interleaving bits\n" +" \n" +" //......12 3456789A ......12 3456789A //x ^ (x << 16)\n" +" //11111111 ........ ........ 11111111 //0x FF 00 00 FF\n" +" //......12 ........ ........ 3456789A //x = (x ^ (x << 16)) & 0xFF0000FF;\n" +" \n" +" //......12 ........ 3456789A 3456789A //x ^ (x << 8)\n" +" //......11 ........ 1111.... ....1111 //0x 03 00 F0 0F\n" +" //......12 ........ 3456.... ....789A //x = (x ^ (x << 8)) & 0x0300F00F;\n" +" \n" +" //..12..12 ....3456 3456.... 789A789A //x ^ (x << 4)\n" +" //......11 ....11.. ..11.... 11....11 //0x 03 0C 30 C3\n" +" //......12 ....34.. ..56.... 78....9A //x = (x ^ (x << 4)) & 0x030C30C3;\n" +" \n" +" //....1212 ..3434.. 5656..78 78..9A9A //x ^ (x << 2)\n" +" //....1..1 ..1..1.. 1..1..1. .1..1..1 //0x 09 24 92 49\n" +" //....1..2 ..3..4.. 5..6..7. .8..9..A //x = (x ^ (x << 2)) & 0x09249249;\n" +" \n" +" //........ ........ ......11 11111111 //0x000003FF\n" +" x &= 0x000003FF; //Clear all bits above bit 10\n" +" \n" +" x = (x ^ (x << 16)) & 0xFF0000FF;\n" +" x = (x ^ (x << 8)) & 0x0300F00F;\n" +" x = (x ^ (x << 4)) & 0x030C30C3;\n" +" x = (x ^ (x << 2)) & 0x09249249;\n" +" \n" +" return x;\n" +"}\n" +"unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)\n" +"{\n" +" return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n" +"}\n" +"__kernel void separateAabbs(__global b3AabbCL* unseparatedAabbs, __global int* aabbIndices, __global b3AabbCL* out_aabbs, int numAabbsToSeparate)\n" +"{\n" +" int separatedAabbIndex = get_global_id(0);\n" +" if(separatedAabbIndex >= numAabbsToSeparate) return;\n" +" int unseparatedAabbIndex = aabbIndices[separatedAabbIndex];\n" +" out_aabbs[separatedAabbIndex] = unseparatedAabbs[unseparatedAabbIndex];\n" +"}\n" +"//Should replace with an optimized parallel reduction\n" +"__kernel void findAllNodesMergedAabb(__global b3AabbCL* out_mergedAabb, int numAabbsNeedingMerge)\n" +"{\n" +" //Each time this kernel is added to the command queue, \n" +" //the number of AABBs needing to be merged is halved\n" +" //\n" +" //Example with 159 AABBs:\n" +" // numRemainingAabbs == 159 / 2 + 159 % 2 == 80\n" +" // numMergedAabbs == 159 - 80 == 79\n" +" //So, indices [0, 78] are merged with [0 + 80, 78 + 80]\n" +" \n" +" int numRemainingAabbs = numAabbsNeedingMerge / 2 + numAabbsNeedingMerge % 2;\n" +" int numMergedAabbs = numAabbsNeedingMerge - numRemainingAabbs;\n" +" \n" +" int aabbIndex = get_global_id(0);\n" +" if(aabbIndex >= numMergedAabbs) return;\n" +" \n" +" int otherAabbIndex = aabbIndex + numRemainingAabbs;\n" +" \n" +" b3AabbCL aabb = out_mergedAabb[aabbIndex];\n" +" b3AabbCL otherAabb = out_mergedAabb[otherAabbIndex];\n" +" \n" +" b3AabbCL mergedAabb;\n" +" mergedAabb.m_min = b3Min(aabb.m_min, otherAabb.m_min);\n" +" mergedAabb.m_max = b3Max(aabb.m_max, otherAabb.m_max);\n" +" out_mergedAabb[aabbIndex] = mergedAabb;\n" +"}\n" +"__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, __global b3AabbCL* mergedAabbOfAllNodes, \n" +" __global SortDataCL* out_mortonCodesAndAabbIndices, int numAabbs)\n" +"{\n" +" int leafNodeIndex = get_global_id(0); //Leaf node index == AABB index\n" +" if(leafNodeIndex >= numAabbs) return;\n" +" \n" +" b3AabbCL mergedAabb = mergedAabbOfAllNodes[0];\n" +" b3Vector3 gridCenter = (mergedAabb.m_min + mergedAabb.m_max) * 0.5f;\n" +" b3Vector3 gridCellSize = (mergedAabb.m_max - mergedAabb.m_min) / (float)1024;\n" +" \n" +" b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];\n" +" b3Vector3 aabbCenter = (aabb.m_min + aabb.m_max) * 0.5f;\n" +" b3Vector3 aabbCenterRelativeToGrid = aabbCenter - gridCenter;\n" +" \n" +" //Quantize into integer coordinates\n" +" //floor() is needed to prevent the center cell, at (0,0,0) from being twice the size\n" +" b3Vector3 gridPosition = aabbCenterRelativeToGrid / gridCellSize;\n" +" \n" +" int4 discretePosition;\n" +" discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );\n" +" discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );\n" +" discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );\n" +" \n" +" //Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]\n" +" discretePosition = b3Max( -512, b3Min(discretePosition, 511) );\n" +" discretePosition += 512;\n" +" \n" +" //Interleave bits(assign a morton code, also known as a z-curve)\n" +" unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);\n" +" \n" +" //\n" +" SortDataCL mortonCodeIndexPair;\n" +" mortonCodeIndexPair.m_key = mortonCode;\n" +" mortonCodeIndexPair.m_value = leafNodeIndex;\n" +" \n" +" out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;\n" +"}\n" +"#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128\n" +"//The most significant bit(0x80000000) of a int32 is used to distinguish between leaf and internal nodes.\n" +"//If it is set, then the index is for an internal node; otherwise, it is a leaf node. \n" +"//In both cases, the bit should be cleared to access the actual node index.\n" +"int isLeafNode(int index) { return (index >> 31 == 0); }\n" +"int getIndexWithInternalNodeMarkerRemoved(int index) { return index & (~0x80000000); }\n" +"int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : (index | 0x80000000); }\n" +"//From sap.cl\n" +"#define NEW_PAIR_MARKER -1\n" +"bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)\n" +"{\n" +" bool overlap = true;\n" +" overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n" +" overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n" +" overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n" +" return overlap;\n" +"}\n" +"//From sap.cl\n" +"__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, \n" +" __global int* rootNodeIndex, \n" +" __global int2* internalNodeChildIndices, \n" +" __global b3AabbCL* internalNodeAabbs,\n" +" __global int2* internalNodeLeafIndexRanges,\n" +" \n" +" __global SortDataCL* mortonCodesAndAabbIndices,\n" +" __global int* out_numPairs, __global int4* out_overlappingPairs, \n" +" int maxPairs, int numQueryAabbs)\n" +"{\n" +" //Using get_group_id()/get_local_id() is Faster than get_global_id(0) since\n" +" //mortonCodesAndAabbIndices[] contains rigid body indices sorted along the z-curve (more spatially coherent)\n" +" int queryBvhNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n" +" if(queryBvhNodeIndex >= numQueryAabbs) return;\n" +" \n" +" int queryRigidIndex = mortonCodesAndAabbIndices[queryBvhNodeIndex].m_value;\n" +" b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n" +" \n" +" int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n" +" \n" +" int stackSize = 1;\n" +" stack[0] = *rootNodeIndex;\n" +" \n" +" while(stackSize)\n" +" {\n" +" int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n" +" --stackSize;\n" +" \n" +" int isLeaf = isLeafNode(internalOrLeafNodeIndex); //Internal node if false\n" +" int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n" +" \n" +" //Optimization - if the BVH is structured as a binary radix tree, then\n" +" //each internal node corresponds to a contiguous range of leaf nodes(internalNodeLeafIndexRanges[]).\n" +" //This can be used to avoid testing each AABB-AABB pair twice, including preventing each node from colliding with itself.\n" +" {\n" +" int highestLeafIndex = (isLeaf) ? bvhNodeIndex : internalNodeLeafIndexRanges[bvhNodeIndex].y;\n" +" if(highestLeafIndex <= queryBvhNodeIndex) continue;\n" +" }\n" +" \n" +" //bvhRigidIndex is not used if internal node\n" +" int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n" +" \n" +" b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n" +" if( TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n" +" {\n" +" if(isLeaf)\n" +" {\n" +" int4 pair;\n" +" pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];\n" +" pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n" +" pair.z = NEW_PAIR_MARKER;\n" +" pair.w = NEW_PAIR_MARKER;\n" +" \n" +" int pairIndex = atomic_inc(out_numPairs);\n" +" if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n" +" }\n" +" \n" +" if(!isLeaf) //Internal node\n" +" {\n" +" if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n" +" {\n" +" //Error\n" +" }\n" +" else\n" +" {\n" +" stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n" +" stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n" +" }\n" +" }\n" +" }\n" +" \n" +" }\n" +"}\n" +"//From rayCastKernels.cl\n" +"typedef struct\n" +"{\n" +" float4 m_from;\n" +" float4 m_to;\n" +"} b3RayInfo;\n" +"//From rayCastKernels.cl\n" +"b3Vector3 b3Vector3_normalize(b3Vector3 v)\n" +"{\n" +" b3Vector3 normal = (b3Vector3){v.x, v.y, v.z, 0.f};\n" +" return normalize(normal); //OpenCL normalize == vector4 normalize\n" +"}\n" +"b3Scalar b3Vector3_length2(b3Vector3 v) { return v.x*v.x + v.y*v.y + v.z*v.z; }\n" +"b3Scalar b3Vector3_dot(b3Vector3 a, b3Vector3 b) { return a.x*b.x + a.y*b.y + a.z*b.z; }\n" +"int rayIntersectsAabb(b3Vector3 rayOrigin, b3Scalar rayLength, b3Vector3 rayNormalizedDirection, b3AabbCL aabb)\n" +"{\n" +" //AABB is considered as 3 pairs of 2 planes( {x_min, x_max}, {y_min, y_max}, {z_min, z_max} ).\n" +" //t_min is the point of intersection with the closer plane, t_max is the point of intersection with the farther plane.\n" +" //\n" +" //if (rayNormalizedDirection.x < 0.0f), then max.x will be the near plane \n" +" //and min.x will be the far plane; otherwise, it is reversed.\n" +" //\n" +" //In order for there to be a collision, the t_min and t_max of each pair must overlap.\n" +" //This can be tested for by selecting the highest t_min and lowest t_max and comparing them.\n" +" \n" +" int4 isNegative = isless( rayNormalizedDirection, ((b3Vector3){0.0f, 0.0f, 0.0f, 0.0f}) ); //isless(x,y) returns (x < y)\n" +" \n" +" //When using vector types, the select() function checks the most signficant bit, \n" +" //but isless() sets the least significant bit.\n" +" isNegative <<= 31;\n" +" //select(b, a, condition) == condition ? a : b\n" +" //When using select() with vector types, (condition[i]) is true if its most significant bit is 1\n" +" b3Vector3 t_min = ( select(aabb.m_min, aabb.m_max, isNegative) - rayOrigin ) / rayNormalizedDirection;\n" +" b3Vector3 t_max = ( select(aabb.m_max, aabb.m_min, isNegative) - rayOrigin ) / rayNormalizedDirection;\n" +" \n" +" b3Scalar t_min_final = 0.0f;\n" +" b3Scalar t_max_final = rayLength;\n" +" \n" +" //Must use fmin()/fmax(); if one of the parameters is NaN, then the parameter that is not NaN is returned. \n" +" //Behavior of min()/max() with NaNs is undefined. (See OpenCL Specification 1.2 [6.12.2] and [6.12.4])\n" +" //Since the innermost fmin()/fmax() is always not NaN, this should never return NaN.\n" +" t_min_final = fmax( t_min.z, fmax(t_min.y, fmax(t_min.x, t_min_final)) );\n" +" t_max_final = fmin( t_max.z, fmin(t_max.y, fmin(t_max.x, t_max_final)) );\n" +" \n" +" return (t_min_final <= t_max_final);\n" +"}\n" +"__kernel void plbvhRayTraverse(__global b3AabbCL* rigidAabbs,\n" +" __global int* rootNodeIndex, \n" +" __global int2* internalNodeChildIndices, \n" +" __global b3AabbCL* internalNodeAabbs,\n" +" __global int2* internalNodeLeafIndexRanges,\n" +" __global SortDataCL* mortonCodesAndAabbIndices,\n" +" \n" +" __global b3RayInfo* rays,\n" +" \n" +" __global int* out_numRayRigidPairs, \n" +" __global int2* out_rayRigidPairs,\n" +" int maxRayRigidPairs, int numRays)\n" +"{\n" +" int rayIndex = get_global_id(0);\n" +" if(rayIndex >= numRays) return;\n" +" \n" +" //\n" +" b3Vector3 rayFrom = rays[rayIndex].m_from;\n" +" b3Vector3 rayTo = rays[rayIndex].m_to;\n" +" b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n" +" b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n" +" \n" +" //\n" +" int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n" +" \n" +" int stackSize = 1;\n" +" stack[0] = *rootNodeIndex;\n" +" \n" +" while(stackSize)\n" +" {\n" +" int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n" +" --stackSize;\n" +" \n" +" int isLeaf = isLeafNode(internalOrLeafNodeIndex); //Internal node if false\n" +" int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n" +" \n" +" //bvhRigidIndex is not used if internal node\n" +" int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n" +" \n" +" b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n" +" if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, bvhNodeAabb) )\n" +" {\n" +" if(isLeaf)\n" +" {\n" +" int2 rayRigidPair;\n" +" rayRigidPair.x = rayIndex;\n" +" rayRigidPair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n" +" \n" +" int pairIndex = atomic_inc(out_numRayRigidPairs);\n" +" if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n" +" }\n" +" \n" +" if(!isLeaf) //Internal node\n" +" {\n" +" if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n" +" {\n" +" //Error\n" +" }\n" +" else\n" +" {\n" +" stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n" +" stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n" +" }\n" +" }\n" +" }\n" +" }\n" +"}\n" +"__kernel void plbvhLargeAabbAabbTest(__global b3AabbCL* smallAabbs, __global b3AabbCL* largeAabbs, \n" +" __global int* out_numPairs, __global int4* out_overlappingPairs, \n" +" int maxPairs, int numLargeAabbRigids, int numSmallAabbRigids)\n" +"{\n" +" int smallAabbIndex = get_global_id(0);\n" +" if(smallAabbIndex >= numSmallAabbRigids) return;\n" +" \n" +" b3AabbCL smallAabb = smallAabbs[smallAabbIndex];\n" +" for(int i = 0; i < numLargeAabbRigids; ++i)\n" +" {\n" +" b3AabbCL largeAabb = largeAabbs[i];\n" +" if( TestAabbAgainstAabb2(&smallAabb, &largeAabb) )\n" +" {\n" +" int4 pair;\n" +" pair.x = largeAabb.m_minIndices[3];\n" +" pair.y = smallAabb.m_minIndices[3];\n" +" pair.z = NEW_PAIR_MARKER;\n" +" pair.w = NEW_PAIR_MARKER;\n" +" \n" +" int pairIndex = atomic_inc(out_numPairs);\n" +" if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n" +" }\n" +" }\n" +"}\n" +"__kernel void plbvhLargeAabbRayTest(__global b3AabbCL* largeRigidAabbs, __global b3RayInfo* rays,\n" +" __global int* out_numRayRigidPairs, __global int2* out_rayRigidPairs,\n" +" int numLargeAabbRigids, int maxRayRigidPairs, int numRays)\n" +"{\n" +" int rayIndex = get_global_id(0);\n" +" if(rayIndex >= numRays) return;\n" +" \n" +" b3Vector3 rayFrom = rays[rayIndex].m_from;\n" +" b3Vector3 rayTo = rays[rayIndex].m_to;\n" +" b3Vector3 rayNormalizedDirection = b3Vector3_normalize(rayTo - rayFrom);\n" +" b3Scalar rayLength = b3Sqrt( b3Vector3_length2(rayTo - rayFrom) );\n" +" \n" +" for(int i = 0; i < numLargeAabbRigids; ++i)\n" +" {\n" +" b3AabbCL rigidAabb = largeRigidAabbs[i];\n" +" if( rayIntersectsAabb(rayFrom, rayLength, rayNormalizedDirection, rigidAabb) )\n" +" {\n" +" int2 rayRigidPair;\n" +" rayRigidPair.x = rayIndex;\n" +" rayRigidPair.y = rigidAabb.m_minIndices[3];\n" +" \n" +" int pairIndex = atomic_inc(out_numRayRigidPairs);\n" +" if(pairIndex < maxRayRigidPairs) out_rayRigidPairs[pairIndex] = rayRigidPair;\n" +" }\n" +" }\n" +"}\n" +"//Set so that it is always greater than the actual common prefixes, and never selected as a parent node.\n" +"//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.\n" +"//Duplicate common prefixes increase the highest common prefix at most by the number of bits used to index the leaf node.\n" +"//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).\n" +"#define B3_PLBVH_INVALID_COMMON_PREFIX 128\n" +"#define B3_PLBVH_ROOT_NODE_MARKER -1\n" +"#define b3Int64 long\n" +"int computeCommonPrefixLength(b3Int64 i, b3Int64 j) { return (int)clz(i ^ j); }\n" +"b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j) \n" +"{\n" +" //This function only needs to return (i & j) in order for the algorithm to work,\n" +" //but it may help with debugging to mask out the lower bits.\n" +" b3Int64 commonPrefixLength = (b3Int64)computeCommonPrefixLength(i, j);\n" +" b3Int64 sharedBits = i & j;\n" +" b3Int64 bitmask = ((b3Int64)(~0)) << (64 - commonPrefixLength); //Set all bits after the common prefix to 0\n" +" \n" +" return sharedBits & bitmask;\n" +"}\n" +"//Same as computeCommonPrefixLength(), but allows for prefixes with different lengths\n" +"int getSharedPrefixLength(b3Int64 prefixA, int prefixLengthA, b3Int64 prefixB, int prefixLengthB)\n" +"{\n" +" return b3Min( computeCommonPrefixLength(prefixA, prefixB), b3Min(prefixLengthA, prefixLengthB) );\n" +"}\n" +"__kernel void computeAdjacentPairCommonPrefix(__global SortDataCL* mortonCodesAndAabbIndices,\n" +" __global b3Int64* out_commonPrefixes,\n" +" __global int* out_commonPrefixLengths,\n" +" int numInternalNodes)\n" +"{\n" +" int internalNodeIndex = get_global_id(0);\n" +" if (internalNodeIndex >= numInternalNodes) return;\n" +" \n" +" //Here, (internalNodeIndex + 1) is never out of bounds since it is a leaf node index,\n" +" //and the number of internal nodes is always numLeafNodes - 1\n" +" int leftLeafIndex = internalNodeIndex;\n" +" int rightLeafIndex = internalNodeIndex + 1;\n" +" \n" +" int leftLeafMortonCode = mortonCodesAndAabbIndices[leftLeafIndex].m_key;\n" +" int rightLeafMortonCode = mortonCodesAndAabbIndices[rightLeafIndex].m_key;\n" +" \n" +" //Binary radix tree construction algorithm does not work if there are duplicate morton codes.\n" +" //Append the index of each leaf node to each morton code so that there are no duplicates.\n" +" //The algorithm also requires that the morton codes are sorted in ascending order; this requirement\n" +" //is also satisfied with this method, as (leftLeafIndex < rightLeafIndex) is always true.\n" +" //\n" +" //upsample(a, b) == ( ((b3Int64)a) << 32) | b\n" +" b3Int64 nonduplicateLeftMortonCode = upsample(leftLeafMortonCode, leftLeafIndex);\n" +" b3Int64 nonduplicateRightMortonCode = upsample(rightLeafMortonCode, rightLeafIndex);\n" +" \n" +" out_commonPrefixes[internalNodeIndex] = computeCommonPrefix(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n" +" out_commonPrefixLengths[internalNodeIndex] = computeCommonPrefixLength(nonduplicateLeftMortonCode, nonduplicateRightMortonCode);\n" +"}\n" +"__kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, __global int* out_leafNodeParentNodes,\n" +" __global int2* out_childNodes, int numLeafNodes)\n" +"{\n" +" int leafNodeIndex = get_global_id(0);\n" +" if (leafNodeIndex >= numLeafNodes) return;\n" +" \n" +" int numInternalNodes = numLeafNodes - 1;\n" +" \n" +" int leftSplitIndex = leafNodeIndex - 1;\n" +" int rightSplitIndex = leafNodeIndex;\n" +" \n" +" int leftCommonPrefix = (leftSplitIndex >= 0) ? commonPrefixLengths[leftSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n" +" int rightCommonPrefix = (rightSplitIndex < numInternalNodes) ? commonPrefixLengths[rightSplitIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n" +" \n" +" //Parent node is the highest adjacent common prefix that is lower than the node's common prefix\n" +" //Leaf nodes are considered as having the highest common prefix\n" +" int isLeftHigherCommonPrefix = (leftCommonPrefix > rightCommonPrefix);\n" +" \n" +" //Handle cases for the edge nodes; the first and last node\n" +" //For leaf nodes, leftCommonPrefix and rightCommonPrefix should never both be B3_PLBVH_INVALID_COMMON_PREFIX\n" +" if(leftCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = false;\n" +" if(rightCommonPrefix == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherCommonPrefix = true;\n" +" \n" +" int parentNodeIndex = (isLeftHigherCommonPrefix) ? leftSplitIndex : rightSplitIndex;\n" +" out_leafNodeParentNodes[leafNodeIndex] = parentNodeIndex;\n" +" \n" +" int isRightChild = (isLeftHigherCommonPrefix); //If the left node is the parent, then this node is its right child and vice versa\n" +" \n" +" //out_childNodesAsInt[0] == int2.x == left child\n" +" //out_childNodesAsInt[1] == int2.y == right child\n" +" int isLeaf = 1;\n" +" __global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n" +" out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, leafNodeIndex);\n" +"}\n" +"__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,\n" +" __global int2* out_childNodes,\n" +" __global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,\n" +" int numInternalNodes)\n" +"{\n" +" int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n" +" if(internalNodeIndex >= numInternalNodes) return;\n" +" \n" +" b3Int64 nodePrefix = commonPrefixes[internalNodeIndex];\n" +" int nodePrefixLength = commonPrefixLengths[internalNodeIndex];\n" +" \n" +"//#define USE_LINEAR_SEARCH\n" +"#ifdef USE_LINEAR_SEARCH\n" +" int leftIndex = -1;\n" +" int rightIndex = -1;\n" +" \n" +" //Find nearest element to left with a lower common prefix\n" +" for(int i = internalNodeIndex - 1; i >= 0; --i)\n" +" {\n" +" int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n" +" if(nodeLeftSharedPrefixLength < nodePrefixLength)\n" +" {\n" +" leftIndex = i;\n" +" break;\n" +" }\n" +" }\n" +" \n" +" //Find nearest element to right with a lower common prefix\n" +" for(int i = internalNodeIndex + 1; i < numInternalNodes; ++i)\n" +" {\n" +" int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[i], commonPrefixLengths[i]);\n" +" if(nodeRightSharedPrefixLength < nodePrefixLength)\n" +" {\n" +" rightIndex = i;\n" +" break;\n" +" }\n" +" }\n" +" \n" +"#else //Use binary search\n" +" //Find nearest element to left with a lower common prefix\n" +" int leftIndex = -1;\n" +" {\n" +" int lower = 0;\n" +" int upper = internalNodeIndex - 1;\n" +" \n" +" while(lower <= upper)\n" +" {\n" +" int mid = (lower + upper) / 2;\n" +" b3Int64 midPrefix = commonPrefixes[mid];\n" +" int midPrefixLength = commonPrefixLengths[mid];\n" +" \n" +" int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n" +" if(nodeMidSharedPrefixLength < nodePrefixLength) \n" +" {\n" +" int right = mid + 1;\n" +" if(right < internalNodeIndex)\n" +" {\n" +" b3Int64 rightPrefix = commonPrefixes[right];\n" +" int rightPrefixLength = commonPrefixLengths[right];\n" +" \n" +" int nodeRightSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, rightPrefix, rightPrefixLength);\n" +" if(nodeRightSharedPrefixLength < nodePrefixLength) \n" +" {\n" +" lower = right;\n" +" leftIndex = right;\n" +" }\n" +" else \n" +" {\n" +" leftIndex = mid;\n" +" break;\n" +" }\n" +" }\n" +" else \n" +" {\n" +" leftIndex = mid;\n" +" break;\n" +" }\n" +" }\n" +" else upper = mid - 1;\n" +" }\n" +" }\n" +" \n" +" //Find nearest element to right with a lower common prefix\n" +" int rightIndex = -1;\n" +" {\n" +" int lower = internalNodeIndex + 1;\n" +" int upper = numInternalNodes - 1;\n" +" \n" +" while(lower <= upper)\n" +" {\n" +" int mid = (lower + upper) / 2;\n" +" b3Int64 midPrefix = commonPrefixes[mid];\n" +" int midPrefixLength = commonPrefixLengths[mid];\n" +" \n" +" int nodeMidSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, midPrefix, midPrefixLength);\n" +" if(nodeMidSharedPrefixLength < nodePrefixLength) \n" +" {\n" +" int left = mid - 1;\n" +" if(left > internalNodeIndex)\n" +" {\n" +" b3Int64 leftPrefix = commonPrefixes[left];\n" +" int leftPrefixLength = commonPrefixLengths[left];\n" +" \n" +" int nodeLeftSharedPrefixLength = getSharedPrefixLength(nodePrefix, nodePrefixLength, leftPrefix, leftPrefixLength);\n" +" if(nodeLeftSharedPrefixLength < nodePrefixLength) \n" +" {\n" +" upper = left;\n" +" rightIndex = left;\n" +" }\n" +" else \n" +" {\n" +" rightIndex = mid;\n" +" break;\n" +" }\n" +" }\n" +" else \n" +" {\n" +" rightIndex = mid;\n" +" break;\n" +" }\n" +" }\n" +" else lower = mid + 1;\n" +" }\n" +" }\n" +"#endif\n" +" \n" +" //Select parent\n" +" {\n" +" int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n" +" int rightPrefixLength = (rightIndex != -1) ? commonPrefixLengths[rightIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n" +" \n" +" int isLeftHigherPrefixLength = (leftPrefixLength > rightPrefixLength);\n" +" \n" +" if(leftPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = false;\n" +" else if(rightPrefixLength == B3_PLBVH_INVALID_COMMON_PREFIX) isLeftHigherPrefixLength = true;\n" +" \n" +" int parentNodeIndex = (isLeftHigherPrefixLength) ? leftIndex : rightIndex;\n" +" \n" +" int isRootNode = (leftIndex == -1 && rightIndex == -1);\n" +" out_internalNodeParentNodes[internalNodeIndex] = (!isRootNode) ? parentNodeIndex : B3_PLBVH_ROOT_NODE_MARKER;\n" +" \n" +" int isLeaf = 0;\n" +" if(!isRootNode)\n" +" {\n" +" int isRightChild = (isLeftHigherPrefixLength); //If the left node is the parent, then this node is its right child and vice versa\n" +" \n" +" //out_childNodesAsInt[0] == int2.x == left child\n" +" //out_childNodesAsInt[1] == int2.y == right child\n" +" __global int* out_childNodesAsInt = (__global int*)(&out_childNodes[parentNodeIndex]);\n" +" out_childNodesAsInt[isRightChild] = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n" +" }\n" +" else *out_rootNodeIndex = getIndexWithInternalNodeMarkerSet(isLeaf, internalNodeIndex);\n" +" }\n" +"}\n" +"__kernel void findDistanceFromRoot(__global int* rootNodeIndex, __global int* internalNodeParentNodes,\n" +" __global int* out_maxDistanceFromRoot, __global int* out_distanceFromRoot, int numInternalNodes)\n" +"{\n" +" if( get_global_id(0) == 0 ) atomic_xchg(out_maxDistanceFromRoot, 0);\n" +" int internalNodeIndex = get_global_id(0);\n" +" if(internalNodeIndex >= numInternalNodes) return;\n" +" \n" +" //\n" +" int distanceFromRoot = 0;\n" +" {\n" +" int parentIndex = internalNodeParentNodes[internalNodeIndex];\n" +" while(parentIndex != B3_PLBVH_ROOT_NODE_MARKER)\n" +" {\n" +" parentIndex = internalNodeParentNodes[parentIndex];\n" +" ++distanceFromRoot;\n" +" }\n" +" }\n" +" out_distanceFromRoot[internalNodeIndex] = distanceFromRoot;\n" +" \n" +" //\n" +" __local int localMaxDistanceFromRoot;\n" +" if( get_local_id(0) == 0 ) localMaxDistanceFromRoot = 0;\n" +" barrier(CLK_LOCAL_MEM_FENCE);\n" +" \n" +" atomic_max(&localMaxDistanceFromRoot, distanceFromRoot);\n" +" barrier(CLK_LOCAL_MEM_FENCE);\n" +" \n" +" if( get_local_id(0) == 0 ) atomic_max(out_maxDistanceFromRoot, localMaxDistanceFromRoot);\n" +"}\n" +"__kernel void buildBinaryRadixTreeAabbsRecursive(__global int* distanceFromRoot, __global SortDataCL* mortonCodesAndAabbIndices,\n" +" __global int2* childNodes,\n" +" __global b3AabbCL* leafNodeAabbs, __global b3AabbCL* internalNodeAabbs,\n" +" int maxDistanceFromRoot, int processedDistance, int numInternalNodes)\n" +"{\n" +" int internalNodeIndex = get_global_id(0);\n" +" if(internalNodeIndex >= numInternalNodes) return;\n" +" \n" +" int distance = distanceFromRoot[internalNodeIndex];\n" +" \n" +" if(distance == processedDistance)\n" +" {\n" +" int leftChildIndex = childNodes[internalNodeIndex].x;\n" +" int rightChildIndex = childNodes[internalNodeIndex].y;\n" +" \n" +" int isLeftChildLeaf = isLeafNode(leftChildIndex);\n" +" int isRightChildLeaf = isLeafNode(rightChildIndex);\n" +" \n" +" leftChildIndex = getIndexWithInternalNodeMarkerRemoved(leftChildIndex);\n" +" rightChildIndex = getIndexWithInternalNodeMarkerRemoved(rightChildIndex);\n" +" \n" +" //leftRigidIndex/rightRigidIndex is not used if internal node\n" +" int leftRigidIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;\n" +" int rightRigidIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;\n" +" \n" +" b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftRigidIndex] : internalNodeAabbs[leftChildIndex];\n" +" b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightRigidIndex] : internalNodeAabbs[rightChildIndex];\n" +" \n" +" b3AabbCL mergedAabb;\n" +" mergedAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);\n" +" mergedAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);\n" +" internalNodeAabbs[internalNodeIndex] = mergedAabb;\n" +" }\n" +"}\n" +"__kernel void findLeafIndexRanges(__global int2* internalNodeChildNodes, __global int2* out_leafIndexRanges, int numInternalNodes)\n" +"{\n" +" int internalNodeIndex = get_global_id(0);\n" +" if(internalNodeIndex >= numInternalNodes) return;\n" +" \n" +" int numLeafNodes = numInternalNodes + 1;\n" +" \n" +" int2 childNodes = internalNodeChildNodes[internalNodeIndex];\n" +" \n" +" int2 leafIndexRange; //x == min leaf index, y == max leaf index\n" +" \n" +" //Find lowest leaf index covered by this internal node\n" +" {\n" +" int lowestIndex = childNodes.x; //childNodes.x == Left child\n" +" while( !isLeafNode(lowestIndex) ) lowestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(lowestIndex) ].x;\n" +" leafIndexRange.x = lowestIndex;\n" +" }\n" +" \n" +" //Find highest leaf index covered by this internal node\n" +" {\n" +" int highestIndex = childNodes.y; //childNodes.y == Right child\n" +" while( !isLeafNode(highestIndex) ) highestIndex = internalNodeChildNodes[ getIndexWithInternalNodeMarkerRemoved(highestIndex) ].y;\n" +" leafIndexRange.y = highestIndex;\n" +" }\n" +" \n" +" //\n" +" out_leafIndexRanges[internalNodeIndex] = leafIndexRange;\n" +"}\n" +; |