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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h | 728 |
1 files changed, 0 insertions, 728 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h deleted file mode 100644 index c02877dde9..0000000000 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h +++ /dev/null @@ -1,728 +0,0 @@ -//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"; |