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