e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
389 lines
10 KiB
Common Lisp
389 lines
10 KiB
Common Lisp
/*
|
|
Copyright (c) 2012 Advanced Micro Devices, Inc.
|
|
|
|
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.
|
|
*/
|
|
//Originally written by Erwin Coumans
|
|
|
|
#define NEW_PAIR_MARKER -1
|
|
|
|
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];
|
|
};
|
|
} btAabbCL;
|
|
|
|
|
|
/// conservative test for overlap between two aabbs
|
|
bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* aabb2);
|
|
bool TestAabbAgainstAabb2(const btAabbCL* aabb1, __local const btAabbCL* 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;
|
|
}
|
|
bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* aabb2);
|
|
bool TestAabbAgainstAabb2GlobalGlobal(__global const btAabbCL* aabb1, __global const btAabbCL* 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;
|
|
}
|
|
|
|
bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* aabb2);
|
|
bool TestAabbAgainstAabb2Global(const btAabbCL* aabb1, __global const btAabbCL* 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;
|
|
}
|
|
|
|
|
|
__kernel void computePairsKernelTwoArrays( __global const btAabbCL* unsortedAabbs, __global const int* unsortedAabbMapping, __global const int* unsortedAabbMapping2, volatile __global int4* pairsOut,volatile __global int* pairCount, int numUnsortedAabbs, int numUnSortedAabbs2, int axis, int maxPairs)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numUnsortedAabbs)
|
|
return;
|
|
|
|
int j = get_global_id(1);
|
|
if (j>=numUnSortedAabbs2)
|
|
return;
|
|
|
|
|
|
__global const btAabbCL* unsortedAabbPtr = &unsortedAabbs[unsortedAabbMapping[i]];
|
|
__global const btAabbCL* unsortedAabbPtr2 = &unsortedAabbs[unsortedAabbMapping2[j]];
|
|
|
|
if (TestAabbAgainstAabb2GlobalGlobal(unsortedAabbPtr,unsortedAabbPtr2))
|
|
{
|
|
int4 myPair;
|
|
|
|
int xIndex = unsortedAabbPtr[0].m_minIndices[3];
|
|
int yIndex = unsortedAabbPtr2[0].m_minIndices[3];
|
|
if (xIndex>yIndex)
|
|
{
|
|
int tmp = xIndex;
|
|
xIndex=yIndex;
|
|
yIndex=tmp;
|
|
}
|
|
|
|
myPair.x = xIndex;
|
|
myPair.y = yIndex;
|
|
myPair.z = NEW_PAIR_MARKER;
|
|
myPair.w = NEW_PAIR_MARKER;
|
|
|
|
|
|
int curPair = atomic_inc (pairCount);
|
|
if (curPair<maxPairs)
|
|
{
|
|
pairsOut[curPair] = myPair; //flush to main memory
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
__kernel void computePairsKernelBruteForce( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numObjects)
|
|
return;
|
|
for (int j=i+1;j<numObjects;j++)
|
|
{
|
|
if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
|
|
{
|
|
int4 myPair;
|
|
myPair.x = aabbs[i].m_minIndices[3];
|
|
myPair.y = aabbs[j].m_minIndices[3];
|
|
myPair.z = NEW_PAIR_MARKER;
|
|
myPair.w = NEW_PAIR_MARKER;
|
|
|
|
int curPair = atomic_inc (pairCount);
|
|
if (curPair<maxPairs)
|
|
{
|
|
pairsOut[curPair] = myPair; //flush to main memory
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
__kernel void computePairsKernelOriginal( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numObjects)
|
|
return;
|
|
for (int j=i+1;j<numObjects;j++)
|
|
{
|
|
if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis]))
|
|
{
|
|
break;
|
|
}
|
|
if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
|
|
{
|
|
int4 myPair;
|
|
myPair.x = aabbs[i].m_minIndices[3];
|
|
myPair.y = aabbs[j].m_minIndices[3];
|
|
myPair.z = NEW_PAIR_MARKER;
|
|
myPair.w = NEW_PAIR_MARKER;
|
|
|
|
int curPair = atomic_inc (pairCount);
|
|
if (curPair<maxPairs)
|
|
{
|
|
pairsOut[curPair] = myPair; //flush to main memory
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
__kernel void computePairsKernelBarrier( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
|
|
{
|
|
int i = get_global_id(0);
|
|
int localId = get_local_id(0);
|
|
|
|
__local int numActiveWgItems[1];
|
|
__local int breakRequest[1];
|
|
|
|
if (localId==0)
|
|
{
|
|
numActiveWgItems[0] = 0;
|
|
breakRequest[0] = 0;
|
|
}
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
atomic_inc(numActiveWgItems);
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
int localBreak = 0;
|
|
|
|
int j=i+1;
|
|
do
|
|
{
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
if (j<numObjects)
|
|
{
|
|
if(aabbs[i].m_maxElems[axis] < (aabbs[j].m_minElems[axis]))
|
|
{
|
|
if (!localBreak)
|
|
{
|
|
atomic_inc(breakRequest);
|
|
localBreak = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
if (j>=numObjects && !localBreak)
|
|
{
|
|
atomic_inc(breakRequest);
|
|
localBreak = 1;
|
|
}
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
if (!localBreak)
|
|
{
|
|
if (TestAabbAgainstAabb2GlobalGlobal(&aabbs[i],&aabbs[j]))
|
|
{
|
|
int4 myPair;
|
|
myPair.x = aabbs[i].m_minIndices[3];
|
|
myPair.y = aabbs[j].m_minIndices[3];
|
|
myPair.z = NEW_PAIR_MARKER;
|
|
myPair.w = NEW_PAIR_MARKER;
|
|
|
|
int curPair = atomic_inc (pairCount);
|
|
if (curPair<maxPairs)
|
|
{
|
|
pairsOut[curPair] = myPair; //flush to main memory
|
|
}
|
|
}
|
|
}
|
|
j++;
|
|
|
|
} while (breakRequest[0]<numActiveWgItems[0]);
|
|
}
|
|
|
|
|
|
__kernel void computePairsKernelLocalSharedMemory( __global const btAabbCL* aabbs, volatile __global int4* pairsOut,volatile __global int* pairCount, int numObjects, int axis, int maxPairs)
|
|
{
|
|
int i = get_global_id(0);
|
|
int localId = get_local_id(0);
|
|
|
|
__local int numActiveWgItems[1];
|
|
__local int breakRequest[1];
|
|
__local btAabbCL localAabbs[128];// = aabbs[i];
|
|
|
|
btAabbCL myAabb;
|
|
|
|
myAabb = (i<numObjects)? aabbs[i]:aabbs[0];
|
|
float testValue = myAabb.m_maxElems[axis];
|
|
|
|
if (localId==0)
|
|
{
|
|
numActiveWgItems[0] = 0;
|
|
breakRequest[0] = 0;
|
|
}
|
|
int localCount=0;
|
|
int block=0;
|
|
localAabbs[localId] = (i+block)<numObjects? aabbs[i+block] : aabbs[0];
|
|
localAabbs[localId+64] = (i+block+64)<numObjects? aabbs[i+block+64]: aabbs[0];
|
|
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
atomic_inc(numActiveWgItems);
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
int localBreak = 0;
|
|
|
|
int j=i+1;
|
|
do
|
|
{
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
if (j<numObjects)
|
|
{
|
|
if(testValue < (localAabbs[localCount+localId+1].m_minElems[axis]))
|
|
{
|
|
if (!localBreak)
|
|
{
|
|
atomic_inc(breakRequest);
|
|
localBreak = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
if (j>=numObjects && !localBreak)
|
|
{
|
|
atomic_inc(breakRequest);
|
|
localBreak = 1;
|
|
}
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
if (!localBreak)
|
|
{
|
|
if (TestAabbAgainstAabb2(&myAabb,&localAabbs[localCount+localId+1]))
|
|
{
|
|
int4 myPair;
|
|
myPair.x = myAabb.m_minIndices[3];
|
|
myPair.y = localAabbs[localCount+localId+1].m_minIndices[3];
|
|
myPair.z = NEW_PAIR_MARKER;
|
|
myPair.w = NEW_PAIR_MARKER;
|
|
|
|
int curPair = atomic_inc (pairCount);
|
|
if (curPair<maxPairs)
|
|
{
|
|
pairsOut[curPair] = myPair; //flush to main memory
|
|
}
|
|
}
|
|
}
|
|
|
|
barrier(CLK_LOCAL_MEM_FENCE);
|
|
|
|
localCount++;
|
|
if (localCount==64)
|
|
{
|
|
localCount = 0;
|
|
block+=64;
|
|
localAabbs[localId] = ((i+block)<numObjects) ? aabbs[i+block] : aabbs[0];
|
|
localAabbs[localId+64] = ((i+64+block)<numObjects) ? aabbs[i+block+64] : aabbs[0];
|
|
}
|
|
j++;
|
|
|
|
} while (breakRequest[0]<numActiveWgItems[0]);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//http://stereopsis.com/radix.html
|
|
unsigned int FloatFlip(float fl);
|
|
unsigned int FloatFlip(float fl)
|
|
{
|
|
unsigned int f = *(unsigned int*)&fl;
|
|
unsigned int mask = -(int)(f >> 31) | 0x80000000;
|
|
return f ^ mask;
|
|
}
|
|
float IFloatFlip(unsigned int f);
|
|
float IFloatFlip(unsigned int f)
|
|
{
|
|
unsigned int mask = ((f >> 31) - 1) | 0x80000000;
|
|
unsigned int fl = f ^ mask;
|
|
return *(float*)&fl;
|
|
}
|
|
|
|
|
|
|
|
|
|
__kernel void copyAabbsKernel( __global const btAabbCL* allAabbs, __global btAabbCL* destAabbs, int numObjects)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numObjects)
|
|
return;
|
|
int src = destAabbs[i].m_maxIndices[3];
|
|
destAabbs[i] = allAabbs[src];
|
|
destAabbs[i].m_maxIndices[3] = src;
|
|
}
|
|
|
|
|
|
__kernel void flipFloatKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global int2* sortData, int numObjects, int axis)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numObjects)
|
|
return;
|
|
|
|
|
|
sortData[i].x = FloatFlip(allAabbs[smallAabbMapping[i]].m_minElems[axis]);
|
|
sortData[i].y = i;
|
|
|
|
}
|
|
|
|
|
|
__kernel void scatterKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, volatile __global const int2* sortData, __global btAabbCL* sortedAabbs, int numObjects)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numObjects)
|
|
return;
|
|
|
|
sortedAabbs[i] = allAabbs[smallAabbMapping[sortData[i].y]];
|
|
}
|
|
|
|
|
|
|
|
__kernel void prepareSumVarianceKernel( __global const btAabbCL* allAabbs, __global const int* smallAabbMapping, __global float4* sum, __global float4* sum2,int numAabbs)
|
|
{
|
|
int i = get_global_id(0);
|
|
if (i>=numAabbs)
|
|
return;
|
|
|
|
btAabbCL smallAabb = allAabbs[smallAabbMapping[i]];
|
|
|
|
float4 s;
|
|
s = (smallAabb.m_max+smallAabb.m_min)*0.5f;
|
|
sum[i]=s;
|
|
sum2[i]=s*s;
|
|
}
|