Draft Parallel Linear BVH Broadphase.
This commit is contained in:
Jackson Lee
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//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* parallelLinearBvhCL= \
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"/*\n"
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"This software is provided 'as-is', without any express or implied warranty.\n"
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"In no event will the authors be held liable for any damages arising from the use of this software.\n"
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"Permission is granted to anyone to use this software for any purpose,\n"
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"including commercial applications, and to alter it and redistribute it freely,\n"
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"subject to the following restrictions:\n"
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"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"
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"2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.\n"
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"3. This notice may not be removed or altered from any source distribution.\n"
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"*/\n"
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"//Initial Author Jackson Lee, 2014\n"
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"typedef float b3Scalar;\n"
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"typedef float4 b3Vector3;\n"
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"#define b3Max max\n"
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"#define b3Min min\n"
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"typedef struct\n"
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"{\n"
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" unsigned int m_key;\n"
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" unsigned int m_value;\n"
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"} SortDataCL;\n"
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"typedef struct \n"
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"{\n"
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" union\n"
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" {\n"
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" float4 m_min;\n"
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" float m_minElems[4];\n"
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" int m_minIndices[4];\n"
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" };\n"
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" union\n"
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" {\n"
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" float4 m_max;\n"
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" float m_maxElems[4];\n"
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" int m_maxIndices[4];\n"
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" };\n"
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"} b3AabbCL;\n"
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"unsigned int interleaveBits(unsigned int x)\n"
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"{\n"
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" //........ ........ ......12 3456789A //x\n"
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" //....1..2 ..3..4.. 5..6..7. .8..9..A //x after interleaving bits\n"
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" \n"
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" //........ ....1234 56789A12 3456789A //x |= (x << 10)\n"
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" //........ ....1111 1....... ...11111 //0x 00 0F 80 1F\n"
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" //........ ....1234 5....... ...6789A //x = ( x | (x << 10) ) & 0x000F801F; \n"
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" \n"
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" //.......1 23451234 5.....67 89A6789A //x |= (x << 5)\n"
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" //.......1 1.....11 1.....11 .....111 //0x 01 83 83 07\n"
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" //.......1 2.....34 5.....67 .....89A //x = ( x | (x << 5) ) & 0x01838307;\n"
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" \n"
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" //....12.1 2..34534 5..67.67 ..89A89A //x |= (x << 3)\n"
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" //....1... 1..1...1 1..1...1 ..1...11 //0x 08 91 91 23\n"
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" //....1... 2..3...4 5..6...7 ..8...9A //x = ( x | (x << 3) ) & 0x08919123;\n"
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" \n"
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" //...11..2 2.33..4N 5.66..77 .88..9NA //x |= (x << 1) ( N indicates overlapping bits, first overlap is bit {4,5} second is {9,A} )\n"
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" //....1..1 ..1...1. 1..1..1. .1...1.1 //0x 09 22 92 45\n"
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" //....1..2 ..3...4. 5..6..7. .8...9.A //x = ( x | (x << 1) ) & 0x09229245;\n"
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" \n"
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" //...11.22 .33..445 5.66.77. 88..99AA //x |= (x << 1)\n"
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" //....1..1 ..1..1.. 1..1..1. .1..1..1 //0x 09 34 92 29\n"
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" //....1..2 ..3..4.. 5..6..7. .8..9..A //x = ( x | (x << 1) ) & 0x09349229;\n"
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" \n"
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" //........ ........ ......11 11111111 //0x000003FF\n"
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" x &= 0x000003FF; //Clear all bits above bit 10\n"
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" \n"
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" x = ( x | (x << 10) ) & 0x000F801F;\n"
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" x = ( x | (x << 5) ) & 0x01838307;\n"
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" x = ( x | (x << 3) ) & 0x08919123;\n"
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" x = ( x | (x << 1) ) & 0x09229245;\n"
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" x = ( x | (x << 1) ) & 0x09349229;\n"
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" \n"
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" return x;\n"
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"}\n"
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"unsigned int getMortonCode(unsigned int x, unsigned int y, unsigned int z)\n"
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"{\n"
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" return interleaveBits(x) << 0 | interleaveBits(y) << 1 | interleaveBits(z) << 2;\n"
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"}\n"
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"__kernel void assignMortonCodesAndAabbIndicies(__global b3AabbCL* worldSpaceAabbs, \n"
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" __global SortDataCL* out_mortonCodesAndAabbIndices, \n"
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" b3Scalar cellSize, int numAabbs)\n"
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"{\n"
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" int leafNodeIndex = get_global_id(0); //Leaf node index == AABB index\n"
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" if(leafNodeIndex >= numAabbs) return;\n"
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" \n"
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" b3AabbCL aabb = worldSpaceAabbs[leafNodeIndex];\n"
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" \n"
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" b3Vector3 center = (aabb.m_min + aabb.m_max) * 0.5f;\n"
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" \n"
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" //Quantize into integer coordinates\n"
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" //floor() is needed to prevent the center cell, at (0,0,0) from being twice the size\n"
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" b3Vector3 gridPosition = center / cellSize;\n"
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" \n"
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" int4 discretePosition;\n"
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" discretePosition.x = (int)( (gridPosition.x >= 0.0f) ? gridPosition.x : floor(gridPosition.x) );\n"
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" discretePosition.y = (int)( (gridPosition.y >= 0.0f) ? gridPosition.y : floor(gridPosition.y) );\n"
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" discretePosition.z = (int)( (gridPosition.z >= 0.0f) ? gridPosition.z : floor(gridPosition.z) );\n"
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" \n"
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" //Clamp coordinates into [-512, 511], then convert range from [-512, 511] to [0, 1023]\n"
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" discretePosition = b3Max( -512, b3Min(discretePosition, 511) );\n"
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" discretePosition += 512;\n"
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" \n"
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" //Interleave bits(assign a morton code, also known as a z-curve)\n"
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" unsigned int mortonCode = getMortonCode(discretePosition.x, discretePosition.y, discretePosition.z);\n"
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" \n"
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" //\n"
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" SortDataCL mortonCodeIndexPair;\n"
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" mortonCodeIndexPair.m_key = mortonCode;\n"
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" mortonCodeIndexPair.m_value = leafNodeIndex;\n"
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" \n"
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" out_mortonCodesAndAabbIndices[leafNodeIndex] = mortonCodeIndexPair;\n"
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"}\n"
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"#define B3_PLVBH_TRAVERSE_MAX_STACK_SIZE 128\n"
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"#define B3_PLBVH_ROOT_NODE_MARKER -1 //Used to indicate that the node has no parent \n"
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"#define B3_PLBVH_ROOT_NODE_INDEX 0\n"
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"//For elements of internalNodeChildIndices(int2), the negative bit determines whether it is a leaf or internal node.\n"
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"//Positive index == leaf node, while negative index == internal node (remove negative sign to get index).\n"
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"//\n"
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"//Since the root internal node is at index 0, no internal nodes should reference it as a child,\n"
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"//and so index 0 is always used to indicate a leaf node.\n"
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"int isLeafNode(int index) { return (index >= 0); }\n"
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"int getIndexWithInternalNodeMarkerRemoved(int index) { return (index >= 0) ? index : -index; }\n"
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"int getIndexWithInternalNodeMarkerSet(int isLeaf, int index) { return (isLeaf) ? index : -index; }\n"
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"__kernel void constructBinaryTree(__global int* firstIndexOffsetPerLevel,\n"
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" __global int* numNodesPerLevel,\n"
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" __global int2* out_internalNodeChildIndices, \n"
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" __global int* out_internalNodeParentNodes, \n"
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" __global int* out_leafNodeParentNodes, \n"
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" int numLevels, int numInternalNodes)\n"
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"{\n"
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" int internalNodeIndex = get_global_id(0);\n"
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" if(internalNodeIndex >= numInternalNodes) return;\n"
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" \n"
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" //Find the level that this node is in, using linear search(could replace with binary search)\n"
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" int level = 0;\n"
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" int numInternalLevels = numLevels - 1; //All levels except the last are internal nodes\n"
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" for(; level < numInternalLevels; ++level)\n"
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" {\n"
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" if( firstIndexOffsetPerLevel[level] <= internalNodeIndex && internalNodeIndex < firstIndexOffsetPerLevel[level + 1]) break;\n"
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" }\n"
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" \n"
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" //Check lower levels to find child nodes\n"
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" //Left child is always in the next level, but the same does not apply to the right child\n"
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" int indexInLevel = internalNodeIndex - firstIndexOffsetPerLevel[level];\n"
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" int firstIndexInNextLevel = firstIndexOffsetPerLevel[level + 1]; //Should never be out of bounds(see for loop above)\n"
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" \n"
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" int leftChildLevel = level + 1;\n"
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" int leftChildIndex = firstIndexInNextLevel + indexInLevel * 2;\n"
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" \n"
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" int rightChildLevel = level + 1;\n"
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" int rightChildIndex = leftChildIndex + 1;\n"
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" \n"
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" //Under certain conditions, the right child index as calculated above is invalid; need to find the correct index\n"
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" //\n"
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" //First condition: must be at least 2 levels apart from the leaf node level;\n"
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" //if the current level is right next to the leaf node level, then the right child\n"
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" //will never be invalid due to the way the nodes are allocated (also avoid a out-of-bounds memory access)\n"
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" //\n"
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" //Second condition: not enough nodes in the next level for each parent to have 2 children, so the right child is invalid\n"
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" //\n"
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" //Third condition: must be the last node in its level\n"
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" if( level < numLevels - 2 \n"
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" && numNodesPerLevel[level] * 2 > numNodesPerLevel[level + 1] \n"
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" && indexInLevel == numNodesPerLevel[level] - 1 )\n"
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" {\n"
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" //Check lower levels until we find a node without a parent\n"
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" for(; rightChildLevel < numLevels - 1; ++rightChildLevel)\n"
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" {\n"
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" int rightChildNextLevel = rightChildLevel + 1;\n"
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" \n"
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" //If this branch is taken, it means that the last node in rightChildNextLevel has no parent\n"
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" if( numNodesPerLevel[rightChildLevel] * 2 < numNodesPerLevel[rightChildNextLevel] )\n"
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" {\n"
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" //Set the node to the last node in rightChildNextLevel\n"
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" rightChildLevel = rightChildNextLevel;\n"
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" rightChildIndex = firstIndexOffsetPerLevel[rightChildNextLevel] + numNodesPerLevel[rightChildNextLevel] - 1;\n"
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" break;\n"
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" }\n"
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" }\n"
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" }\n"
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" \n"
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" int isLeftChildLeaf = (leftChildLevel >= numLevels - 1);\n"
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" int isRightChildLeaf = (rightChildLevel >= numLevels - 1);\n"
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" \n"
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" //If left/right child is a leaf node, the index needs to be corrected\n"
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" //the way the index is calculated assumes that the leaf and internal nodes are in a contiguous array,\n"
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" //with leaf nodes at the end of the array; in actuality, the leaf and internal nodes are in separate arrays\n"
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" {\n"
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" int leafNodeLevel = numLevels - 1;\n"
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" leftChildIndex = (isLeftChildLeaf) ? leftChildIndex - firstIndexOffsetPerLevel[leafNodeLevel] : leftChildIndex;\n"
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" rightChildIndex = (isLeftChildLeaf) ? rightChildIndex - firstIndexOffsetPerLevel[leafNodeLevel] : rightChildIndex;\n"
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" }\n"
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" \n"
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" //Set the negative sign bit if the node is internal\n"
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" int2 childIndices;\n"
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" childIndices.x = getIndexWithInternalNodeMarkerSet(isLeftChildLeaf, leftChildIndex);\n"
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" childIndices.y = getIndexWithInternalNodeMarkerSet(isRightChildLeaf, rightChildIndex);\n"
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" out_internalNodeChildIndices[internalNodeIndex] = childIndices;\n"
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" \n"
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" //Assign parent node index to children\n"
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" __global int* out_leftChildParentNodeIndices = (isLeftChildLeaf) ? out_leafNodeParentNodes : out_internalNodeParentNodes;\n"
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" out_leftChildParentNodeIndices[leftChildIndex] = internalNodeIndex;\n"
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" \n"
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" __global int* out_rightChildParentNodeIndices = (isRightChildLeaf) ? out_leafNodeParentNodes : out_internalNodeParentNodes;\n"
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" out_rightChildParentNodeIndices[rightChildIndex] = internalNodeIndex;\n"
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"}\n"
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"__kernel void determineInternalNodeAabbs(__global int* firstIndexOffsetPerLevel,\n"
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" __global int* numNodesPerLevel, \n"
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" __global int2* internalNodeChildIndices,\n"
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" __global SortDataCL* mortonCodesAndAabbIndices,\n"
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" __global b3AabbCL* leafNodeAabbs, \n"
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" __global b3AabbCL* out_internalNodeAabbs, int numLevels, int numInternalNodes)\n"
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"{\n"
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" int i = get_global_id(0);\n"
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" if(i >= numInternalNodes) return;\n"
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" \n"
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" int numInternalLevels = numLevels - 1;\n"
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" \n"
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" //Starting from the level next to the leaf nodes, move towards the root(level 0)\n"
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" for(int level = numInternalLevels - 1; level >= 0; --level)\n"
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" {\n"
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" int indexInLevel = i; //Index relative to firstIndexOffsetPerLevel[level]\n"
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" \n"
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" int numNodesInLevel = numNodesPerLevel[level];\n"
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" if(i < numNodesInLevel)\n"
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" {\n"
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" int internalNodeIndexGlobal = indexInLevel + firstIndexOffsetPerLevel[level];\n"
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" int2 childIndicies = internalNodeChildIndices[internalNodeIndexGlobal];\n"
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" \n"
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" int leftChildIndex = getIndexWithInternalNodeMarkerRemoved(childIndicies.x);\n"
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" int rightChildIndex = getIndexWithInternalNodeMarkerRemoved(childIndicies.y);\n"
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" \n"
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" int isLeftChildLeaf = isLeafNode(childIndicies.x);\n"
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" int isRightChildLeaf = isLeafNode(childIndicies.y);\n"
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" \n"
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" int leftChildLeafIndex = (isLeftChildLeaf) ? mortonCodesAndAabbIndices[leftChildIndex].m_value : -1;\n"
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" int rightChildLeafIndex = (isRightChildLeaf) ? mortonCodesAndAabbIndices[rightChildIndex].m_value : -1;\n"
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" \n"
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" b3AabbCL leftChildAabb = (isLeftChildLeaf) ? leafNodeAabbs[leftChildLeafIndex] : out_internalNodeAabbs[leftChildIndex];\n"
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" b3AabbCL rightChildAabb = (isRightChildLeaf) ? leafNodeAabbs[rightChildLeafIndex] : out_internalNodeAabbs[rightChildIndex];\n"
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" \n"
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" b3AabbCL internalNodeAabb;\n"
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" internalNodeAabb.m_min = b3Min(leftChildAabb.m_min, rightChildAabb.m_min);\n"
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" internalNodeAabb.m_max = b3Max(leftChildAabb.m_max, rightChildAabb.m_max);\n"
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" out_internalNodeAabbs[internalNodeIndexGlobal] = internalNodeAabb;\n"
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" }\n"
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" \n"
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" barrier(CLK_GLOBAL_MEM_FENCE);\n"
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" }\n"
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"}\n"
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"//From sap.cl\n"
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"#define NEW_PAIR_MARKER -1\n"
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"bool TestAabbAgainstAabb2(const b3AabbCL* aabb1, const b3AabbCL* aabb2)\n"
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"{\n"
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" bool overlap = true;\n"
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" overlap = (aabb1->m_min.x > aabb2->m_max.x || aabb1->m_max.x < aabb2->m_min.x) ? false : overlap;\n"
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" overlap = (aabb1->m_min.z > aabb2->m_max.z || aabb1->m_max.z < aabb2->m_min.z) ? false : overlap;\n"
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" overlap = (aabb1->m_min.y > aabb2->m_max.y || aabb1->m_max.y < aabb2->m_min.y) ? false : overlap;\n"
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" return overlap;\n"
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"}\n"
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"//From sap.cl\n"
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"__kernel void plbvhCalculateOverlappingPairs(__global b3AabbCL* rigidAabbs, \n"
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" __global int2* internalNodeChildIndices, __global b3AabbCL* internalNodeAabbs,\n"
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" __global SortDataCL* mortonCodesAndAabbIndices,\n"
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" __global int* out_numPairs, __global int4* out_overlappingPairs, \n"
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" int maxPairs, int numQueryAabbs)\n"
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"{\n"
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" int queryRigidIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
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" if(queryRigidIndex >= numQueryAabbs) return;\n"
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" \n"
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" queryRigidIndex = mortonCodesAndAabbIndices[queryRigidIndex].m_value;\n"
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" //int queryRigidIndex = get_global_id(0);\n"
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" //if(queryRigidIndex >= numQueryAabbs) return;\n"
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" \n"
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" b3AabbCL queryAabb = rigidAabbs[queryRigidIndex];\n"
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" \n"
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" int stack[B3_PLVBH_TRAVERSE_MAX_STACK_SIZE];\n"
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" \n"
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" //Starting by placing only the root node index, 0, in the stack causes it to be detected as a leaf node(see isLeafNode() in loop)\n"
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" int stackSize = 2;\n"
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" stack[0] = internalNodeChildIndices[B3_PLBVH_ROOT_NODE_INDEX].x;\n"
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" stack[1] = internalNodeChildIndices[B3_PLBVH_ROOT_NODE_INDEX].y;\n"
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" \n"
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" while(stackSize)\n"
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" {\n"
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" int internalOrLeafNodeIndex = stack[ stackSize - 1 ];\n"
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" --stackSize;\n"
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" \n"
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" int isLeaf = isLeafNode(internalOrLeafNodeIndex); //Internal node if false\n"
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" int bvhNodeIndex = getIndexWithInternalNodeMarkerRemoved(internalOrLeafNodeIndex);\n"
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" \n"
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" //bvhRigidIndex is not used if internal node\n"
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" int bvhRigidIndex = (isLeaf) ? mortonCodesAndAabbIndices[bvhNodeIndex].m_value : -1;\n"
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" \n"
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" b3AabbCL bvhNodeAabb = (isLeaf) ? rigidAabbs[bvhRigidIndex] : internalNodeAabbs[bvhNodeIndex];\n"
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" if( queryRigidIndex != bvhRigidIndex && TestAabbAgainstAabb2(&queryAabb, &bvhNodeAabb) )\n"
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" {\n"
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" if(isLeaf && rigidAabbs[queryRigidIndex].m_minIndices[3] < rigidAabbs[bvhRigidIndex].m_minIndices[3])\n"
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" {\n"
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" int4 pair;\n"
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" pair.x = rigidAabbs[queryRigidIndex].m_minIndices[3];\n"
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" pair.y = rigidAabbs[bvhRigidIndex].m_minIndices[3];\n"
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" pair.z = NEW_PAIR_MARKER;\n"
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" pair.w = NEW_PAIR_MARKER;\n"
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" \n"
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" int pairIndex = atomic_inc(out_numPairs);\n"
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" if(pairIndex < maxPairs) out_overlappingPairs[pairIndex] = pair;\n"
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" }\n"
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" \n"
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" if(!isLeaf) //Internal node\n"
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" {\n"
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" if(stackSize + 2 > B3_PLVBH_TRAVERSE_MAX_STACK_SIZE)\n"
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" {\n"
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" //Error\n"
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" }\n"
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" else\n"
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" {\n"
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" stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].x;\n"
|
||||
" stack[ stackSize++ ] = internalNodeChildIndices[bvhNodeIndex].y;\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" }\n"
|
||||
" \n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
;
|
||||
Reference in New Issue
Block a user