diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h | 1455 |
1 files changed, 727 insertions, 728 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h index 5eb8f45b16..c02877dde9 100644 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h @@ -1,729 +1,728 @@ //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" -; +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"; |