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Clean up PLBVH construction, add comments.

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This commit is contained in:
Jackson Lee
2014-03-11 14:13:09 -07:00
parent 038364ccdd
commit db02ced606
4 changed files with 111 additions and 214 deletions
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11
src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvh.cl
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@@ -448,6 +448,8 @@ b3Int64 computeCommonPrefix(b3Int64 i, b3Int64 j)
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) );
@@ -521,8 +523,6 @@ __kernel void buildBinaryRadixTreeLeafNodes(__global int* commonPrefixLengths, _
__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,
__global int2* out_childNodes,
__global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,
__global int* TEMP_out_leftLowerPrefix, __global int* TEMP_out_rightLowerPrefix,
__global int* TEMP_spl_left, __global int* TEMP_spl_right,
int numInternalNodes)
{
int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);
@@ -536,6 +536,7 @@ __kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes
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]);
@@ -546,6 +547,7 @@ __kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes
}
}
//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]);
@@ -645,11 +647,6 @@ __kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes
}
#endif
TEMP_out_leftLowerPrefix[internalNodeIndex] = leftIndex;
TEMP_out_rightLowerPrefix[internalNodeIndex] = rightIndex;
TEMP_spl_left[internalNodeIndex] = (leftIndex != -1) ? getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[leftIndex], commonPrefixLengths[leftIndex]) : -1;
TEMP_spl_right[internalNodeIndex] = (rightIndex != -1) ? getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[rightIndex], commonPrefixLengths[rightIndex]) : -1;
//Select parent
{
int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;

10
src/Bullet3OpenCL/BroadphaseCollision/kernels/parallelLinearBvhKernels.h
View File

@@ -418,6 +418,7 @@ static const char* parallelLinearBvhCL= \
" \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"
@@ -487,8 +488,6 @@ static const char* parallelLinearBvhCL= \
"__kernel void buildBinaryRadixTreeInternalNodes(__global b3Int64* commonPrefixes, __global int* commonPrefixLengths,\n"
" __global int2* out_childNodes,\n"
" __global int* out_internalNodeParentNodes, __global int* out_rootNodeIndex,\n"
" __global int* TEMP_out_leftLowerPrefix, __global int* TEMP_out_rightLowerPrefix,\n"
" __global int* TEMP_spl_left, __global int* TEMP_spl_right,\n"
" int numInternalNodes)\n"
"{\n"
" int internalNodeIndex = get_group_id(0) * get_local_size(0) + get_local_id(0);\n"
@@ -502,6 +501,7 @@ static const char* parallelLinearBvhCL= \
" 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"
@@ -512,6 +512,7 @@ static const char* parallelLinearBvhCL= \
" }\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"
@@ -610,11 +611,6 @@ static const char* parallelLinearBvhCL= \
" }\n"
"#endif\n"
" \n"
" TEMP_out_leftLowerPrefix[internalNodeIndex] = leftIndex;\n"
" TEMP_out_rightLowerPrefix[internalNodeIndex] = rightIndex;\n"
" TEMP_spl_left[internalNodeIndex] = (leftIndex != -1) ? getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[leftIndex], commonPrefixLengths[leftIndex]) : -1;\n"
" TEMP_spl_right[internalNodeIndex] = (rightIndex != -1) ? getSharedPrefixLength(nodePrefix, nodePrefixLength, commonPrefixes[rightIndex], commonPrefixLengths[rightIndex]) : -1;\n"
" \n"
" //Select parent\n"
" {\n"
" int leftPrefixLength = (leftIndex != -1) ? commonPrefixLengths[leftIndex] : B3_PLBVH_INVALID_COMMON_PREFIX;\n"