warp-lang 0.10.1__py3-none-win_amd64.whl → 0.11.0__py3-none-win_amd64.whl

warp/native/bvh.cu

@@ -9,6 +9,7 @@
 #include "warp.h"
 #include "cuda_util.h"
 #include "bvh.h"
+#include "sort.h"
 
 #include <vector>
 #include <algorithm>
@@ -16,25 +17,32 @@
 #include <cuda.h>
 #include <cuda_runtime_api.h>
 
+#define THRUST_IGNORE_CUB_VERSION_CHECK
+
+#include <cub/cub.cuh>
+
+
 namespace wp
 {
 
-__global__ void bvh_refit_kernel(int n, const int* __restrict__ parents, int* __restrict__ child_count, BVHPackedNodeHalf* __restrict__ lowers, BVHPackedNodeHalf* __restrict__ uppers, const bounds3* bounds)
+__global__ void bvh_refit_kernel(int n, const int* __restrict__ parents, int* __restrict__ child_count, BVHPackedNodeHalf* __restrict__ node_lowers, BVHPackedNodeHalf* __restrict__ node_uppers, const vec3* item_lowers, const vec3* item_uppers)
 {
     int index = blockDim.x*blockIdx.x + threadIdx.x;
 
     if (index < n)
     {
-        bool leaf = lowers[index].b;
+        bool leaf = node_lowers[index].b;
 
         if (leaf)
         {
             // update the leaf node
-            const int leaf_index = lowers[index].i;
-            const bounds3& b = bounds[leaf_index];
+            const int leaf_index = node_lowers[index].i;
 
-            make_node(lowers+index, b.lower, leaf_index, true);
-            make_node(uppers+index, b.upper, 0, false);
+            vec3 lower = item_lowers[leaf_index];
+            vec3 upper = item_uppers[leaf_index];
+
+            make_node(node_lowers+index, lower, leaf_index, true);
+            make_node(node_uppers+index, upper, 0, false);
         }
         else
         {
@@ -59,6 +67,214 @@ __global__ void bvh_refit_kernel(int n, const int* __restrict__ parents, int* __
             // if we have are the last thread (such that the parent node is now complete)
             // then update its bounds and move onto the the next parent in the hierarchy
             if (finished == 1)
+            {
+                const int left_child = node_lowers[parent].i;
+                const int right_child = node_uppers[parent].i;
+
+                vec3 left_lower = vec3(node_lowers[left_child].x,
+                                       node_lowers[left_child].y, 
+                                       node_lowers[left_child].z);
+
+                vec3 left_upper = vec3(node_uppers[left_child].x,
+                                       node_uppers[left_child].y, 
+                                       node_uppers[left_child].z);
+
+                vec3 right_lower = vec3(node_lowers[right_child].x,
+                                        node_lowers[right_child].y,
+                                        node_lowers[right_child].z);
+
+
+                vec3 right_upper = vec3(node_uppers[right_child].x, 
+                                        node_uppers[right_child].y, 
+                                        node_uppers[right_child].z);
+
+                // union of child bounds
+                vec3 lower = min(left_lower, right_lower);
+                vec3 upper = max(left_upper, right_upper);
+                
+                // write new BVH nodes
+                make_node(node_lowers+parent, lower, left_child, false);
+                make_node(node_uppers+parent, upper, right_child, false);
+
+                // move onto processing the parent
+                index = parent;
+            }
+            else
+            {
+                // parent not ready (we are the first child), terminate thread
+                break;
+            }
+        }		
+    }
+}
+
+
+void bvh_refit_device(BVH& bvh)
+{
+    ContextGuard guard(bvh.context);
+
+    // clear child counters
+    memset_device(WP_CURRENT_CONTEXT, bvh.node_counts, 0, sizeof(int)*bvh.max_nodes);
+
+    wp_launch_device(WP_CURRENT_CONTEXT, bvh_refit_kernel, bvh.num_items, (bvh.num_items, bvh.node_parents, bvh.node_counts, bvh.node_lowers, bvh.node_uppers, bvh.item_lowers, bvh.item_uppers));
+}
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+// Create a linear BVH as described in Fast and Simple Agglomerative LBVH construction
+// this is a bottom-up clustering method that outputs one node per-leaf 
+//
+class LinearBVHBuilderGPU
+{
+public:
+
+    LinearBVHBuilderGPU();
+    ~LinearBVHBuilderGPU();
+
+    // takes a bvh (host ref), and pointers to the GPU lower and upper bounds for each triangle
+    void build(BVH& bvh, const vec3* item_lowers, const vec3* item_uppers, int num_items, bounds3* total_bounds);
+
+private:
+
+    // temporary data used during building
+    int* indices;
+    int* keys;
+    int* deltas;
+    int* range_lefts;
+    int* range_rights;
+    int* num_children;
+
+    // bounds data when total item bounds built on GPU
+    vec3* total_lower;
+    vec3* total_upper;
+    vec3* total_inv_edges;
+};
+
+////////////////////////////////////////////////////////
+
+
+
+__global__ void compute_morton_codes(const vec3* __restrict__ item_lowers, const vec3* __restrict__ item_uppers, int n, const vec3* grid_lower, const vec3* grid_inv_edges, int* __restrict__ indices, int* __restrict__ keys)
+{
+    const int index = blockDim.x*blockIdx.x + threadIdx.x;
+
+    if (index < n)
+    {
+        vec3 lower = item_lowers[index];
+        vec3 upper = item_uppers[index];
+
+        vec3 center = 0.5f*(lower+upper);
+
+        vec3 local = cw_mul((center-grid_lower[0]), grid_inv_edges[0]);
+        
+        // 10-bit Morton codes stored in lower 30bits (1024^3 effective resolution)
+        int key = morton3<1024>(local[0], local[1], local[2]);
+
+        indices[index] = index;
+        keys[index] = key;
+    }
+}
+
+// calculate the index of the first differing bit between two adjacent Morton keys
+__global__ void compute_key_deltas(const int* __restrict__ keys, int* __restrict__ deltas, int n)
+{
+    const int index = blockDim.x*blockIdx.x + threadIdx.x;
+
+    if (index < n)
+    {
+        int a = keys[index];
+        int b = keys[index+1];
+
+        int x = a^b;
+        
+        deltas[index] = x;// __clz(x);
+    }
+}
+
+__global__ void build_leaves(const vec3* __restrict__ item_lowers, const vec3* __restrict__ item_uppers, int n, const int* __restrict__ indices, int* __restrict__ range_lefts, int* __restrict__ range_rights, BVHPackedNodeHalf* __restrict__ lowers, BVHPackedNodeHalf* __restrict__ uppers)
+{
+    const int index = blockDim.x*blockIdx.x + threadIdx.x;
+
+    if (index < n)
+    {
+        const int item = indices[index];
+
+        vec3 lower = item_lowers[item];
+        vec3 upper = item_uppers[item];
+
+        // write leaf nodes 
+        lowers[index] = make_node(lower, item, true);
+        uppers[index] = make_node(upper, item, false);
+
+        // write leaf key ranges
+        range_lefts[index] = index;
+        range_rights[index] = index;
+    }
+}
+
+// this bottom-up process assigns left and right children and combines bounds to form internal nodes
+// there is one thread launched per-leaf node, each thread calculates it's parent node and assigns
+// itself to either the left or right parent slot, the last child to complete the parent and moves
+// up the hierarchy
+__global__ void build_hierarchy(int n, int* root, const int* __restrict__ deltas,  int* __restrict__ num_children, volatile int* __restrict__ range_lefts, volatile int* __restrict__ range_rights, volatile int* __restrict__ parents, volatile BVHPackedNodeHalf* __restrict__ lowers, volatile BVHPackedNodeHalf* __restrict__ uppers)
+{
+    int index = blockDim.x*blockIdx.x + threadIdx.x;
+
+    if (index < n)
+    {
+        const int internal_offset = n;
+
+        for (;;)
+        {
+            int left = range_lefts[index];
+            int right = range_rights[index];
+
+            // check if we are the root node, if so then store out our index and terminate
+            if (left == 0 && right == n-1)
+            {					
+                *root = index;
+                parents[index] = -1;
+
+                break;
+            }
+
+            int childCount = 0;
+
+            int parent;
+
+            if (left == 0 || (right != n-1 && deltas[right] < deltas[left-1]))
+            {
+                parent = right + internal_offset;
+
+                // set parent left child
+                parents[index] = parent;
+                lowers[parent].i = index;				
+                range_lefts[parent] = left;
+
+                // ensure above writes are visible to all threads
+                __threadfence();
+                
+                childCount = atomicAdd(&num_children[parent], 1);
+            }
+            else
+            {
+                parent = left + internal_offset - 1;
+                
+                // set parent right child
+                parents[index] = parent;
+                uppers[parent].i = index;
+                range_rights[parent] = right;
+
+                // ensure above writes are visible to all threads
+                __threadfence();
+                
+                childCount = atomicAdd(&num_children[parent], 1);
+            }
+
+            // if we have are the last thread (such that the parent node is now complete)
+            // then update its bounds and move onto the the next parent in the hierarchy
+            if (childCount == 1)
             {
                 const int left_child = lowers[parent].i;
                 const int right_child = uppers[parent].i;
@@ -72,15 +288,15 @@ __global__ void bvh_refit_kernel(int n, const int* __restrict__ parents, int* __
                                        uppers[left_child].z);
 
                 vec3 right_lower = vec3(lowers[right_child].x,
-                                       lowers[right_child].y,
-                                       lowers[right_child].z);
+                                        lowers[right_child].y,
+                                        lowers[right_child].z);
 
 
                 vec3 right_upper = vec3(uppers[right_child].x, 
-                                       uppers[right_child].y, 
-                                       uppers[right_child].z);
+                                        uppers[right_child].y, 
+                                        uppers[right_child].z);
 
-                // union of child bounds
+                // bounds_union of child bounds
                 vec3 lower = min(left_lower, right_lower);
                 vec3 upper = max(left_upper, right_upper);
                 
@@ -100,30 +316,158 @@ __global__ void bvh_refit_kernel(int n, const int* __restrict__ parents, int* __
     }
 }
 
+CUDA_CALLABLE inline vec3 Vec3Max(const vec3& a, const vec3& b) { return wp::max(a, b); }
+CUDA_CALLABLE inline vec3 Vec3Min(const vec3& a, const vec3& b) { return wp::min(a, b); }
 
-void bvh_refit_device(BVH& bvh, const bounds3* b)
+__global__ void compute_total_bounds(const vec3* item_lowers, const vec3* item_uppers, vec3* total_lower, vec3* total_upper, int num_items)
 {
-    ContextGuard guard(bvh.context);
+     typedef cub::BlockReduce<vec3, 256> BlockReduce;
 
-    // clear child counters
-    memset_device(WP_CURRENT_CONTEXT, bvh.node_counts, 0, sizeof(int)*bvh.max_nodes);
+     __shared__ typename BlockReduce::TempStorage temp_storage;
+
+     const int blockStart = blockDim.x*blockIdx.x;
+     const int numValid = ::min(num_items-blockStart, blockDim.x);
+
+     const int tid = blockStart + threadIdx.x;
+
+     if (tid < num_items)
+     {
+        vec3 lower = item_lowers[tid];
+        vec3 upper = item_uppers[tid];
+
+         vec3 block_upper = BlockReduce(temp_storage).Reduce(upper, Vec3Max, numValid);
+
+         // sync threads because second reduce uses same temp storage as first
+         __syncthreads();
+
+         vec3 block_lower = BlockReduce(temp_storage).Reduce(lower, Vec3Min, numValid);
 
-    wp_launch_device(WP_CURRENT_CONTEXT, bvh_refit_kernel, bvh.max_nodes, (bvh.max_nodes, bvh.node_parents, bvh.node_counts, bvh.node_lowers, bvh.node_uppers, b));
+         if (threadIdx.x == 0)
+         {
+             // write out block results, expanded by the radius
+             atomic_max(total_upper, block_upper);
+             atomic_min(total_lower, block_lower);
+         }	 
+    }
+}
+
+// compute inverse edge length, this is just done on the GPU to avoid a CPU->GPU sync point
+__global__ void compute_total_inv_edges(const vec3* total_lower, const vec3* total_upper, vec3* total_inv_edges)
+{
+    vec3 edges = (total_upper[0]-total_lower[0]);
+    edges += vec3(0.0001f);
+
+    total_inv_edges[0] = vec3(1.0f/edges[0], 1.0f/edges[1], 1.0f/edges[2]);
 }
 
-__global__ void set_bounds_from_lowers_and_uppers(int n, bounds3* b, const vec3* lowers, const vec3* uppers)
+
+
+LinearBVHBuilderGPU::LinearBVHBuilderGPU() 
+    : indices(NULL)
+    , keys(NULL)
+    , deltas(NULL)
+    , range_lefts(NULL)
+    , range_rights(NULL)
+    , num_children(NULL)
+    , total_lower(NULL)
+    , total_upper(NULL)
+    , total_inv_edges(NULL)
 {
-    const int tid = blockIdx.x*blockDim.x + threadIdx.x;
+    total_lower = (vec3*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(vec3));
+    total_upper = (vec3*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(vec3));
+    total_inv_edges = (vec3*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(vec3));
+}
 
-    if (tid < n)
+LinearBVHBuilderGPU::~LinearBVHBuilderGPU()
+{
+    free_temp_device(WP_CURRENT_CONTEXT, total_lower);
+    free_temp_device(WP_CURRENT_CONTEXT, total_upper);
+    free_temp_device(WP_CURRENT_CONTEXT, total_inv_edges);
+}
+
+
+
+void LinearBVHBuilderGPU::build(BVH& bvh, const vec3* item_lowers, const vec3* item_uppers, int num_items, bounds3* total_bounds)
+{
+    // allocate temporary memory used during  building
+    indices = (int*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(int)*num_items*2); 	// *2 for radix sort
+    keys = (int*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(int)*num_items*2);	    // *2 for radix sort
+    deltas = (int*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(int)*num_items);    	// highest differenting bit between keys for item i and i+1
+    range_lefts = (int*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(int)*bvh.max_nodes);
+    range_rights = (int*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(int)*bvh.max_nodes);
+    num_children = (int*)alloc_temp_device(WP_CURRENT_CONTEXT, sizeof(int)*bvh.max_nodes);
+
+    // if total bounds supplied by the host then we just 
+    // compute our edge length and upload it to the GPU directly
+    if (total_bounds)
     {
-        b[tid] = bounds3(lowers[tid], uppers[tid]);
+        // calculate Morton codes
+        vec3 edges = (*total_bounds).edges();
+        edges += vec3(0.0001f);
+
+        vec3 inv_edges = vec3(1.0f/edges[0], 1.0f/edges[1], 1.0f/edges[2]);
+        
+        memcpy_h2d(WP_CURRENT_CONTEXT, total_lower, &total_bounds->lower[0], sizeof(vec3));
+        memcpy_h2d(WP_CURRENT_CONTEXT, total_upper, &total_bounds->upper[0], sizeof(vec3));
+        memcpy_h2d(WP_CURRENT_CONTEXT, total_inv_edges, &inv_edges[0], sizeof(vec3));
+    }
+    else
+    {
+        static vec3 upper(-FLT_MAX);
+        static vec3 lower(FLT_MAX);
+
+        memcpy_h2d(WP_CURRENT_CONTEXT, total_lower, &lower, sizeof(lower));
+        memcpy_h2d(WP_CURRENT_CONTEXT, total_upper, &upper, sizeof(upper));
+
+        // compute the total bounds on the GPU
+        wp_launch_device(WP_CURRENT_CONTEXT, compute_total_bounds, num_items, (item_lowers, item_uppers, total_lower, total_upper, num_items));
+
+        // compute the total edge length
+        wp_launch_device(WP_CURRENT_CONTEXT, compute_total_inv_edges, 1, (total_lower, total_upper, total_inv_edges));
     }
+
+    // assign 30-bit Morton code based on the centroid of each triangle and bounds for each leaf
+    wp_launch_device(WP_CURRENT_CONTEXT, compute_morton_codes, num_items, (item_lowers, item_uppers, num_items, total_lower, total_inv_edges, indices, keys));
+    
+    // sort items based on Morton key (note the 32-bit sort key corresponds to the template parameter to morton3, i.e. 3x9 bit keys combined)
+    radix_sort_pairs_device(WP_CURRENT_CONTEXT, keys, indices, num_items);
+
+    // calculate deltas between adjacent keys
+    wp_launch_device(WP_CURRENT_CONTEXT, compute_key_deltas, num_items, (keys, deltas, num_items-1));
+
+    // initialize leaf nodes
+    wp_launch_device(WP_CURRENT_CONTEXT, build_leaves, num_items, (item_lowers, item_uppers, num_items, indices, range_lefts, range_rights, bvh.node_lowers, bvh.node_uppers));
+    
+    // reset children count, this is our atomic counter so we know when an internal node is complete, only used during building
+    memset_device(WP_CURRENT_CONTEXT, num_children, 0, sizeof(int)*bvh.max_nodes);
+
+    // build the tree and internal node bounds
+    wp_launch_device(WP_CURRENT_CONTEXT, build_hierarchy, num_items, (num_items, bvh.root, deltas, num_children, range_lefts, range_rights, bvh.node_parents, bvh.node_lowers, bvh.node_uppers));
+
+    // free temporary memory
+    free_temp_device(WP_CURRENT_CONTEXT, indices);
+    free_temp_device(WP_CURRENT_CONTEXT, keys);
+    free_temp_device(WP_CURRENT_CONTEXT, deltas);
+
+    free_temp_device(WP_CURRENT_CONTEXT, range_lefts);
+    free_temp_device(WP_CURRENT_CONTEXT, range_rights);
+    free_temp_device(WP_CURRENT_CONTEXT, num_children);
+
+}
+
+void bvh_destroy_device(wp::BVH& bvh)
+{
+    ContextGuard guard(bvh.context);
+
+    free_device(WP_CURRENT_CONTEXT, bvh.node_lowers); bvh.node_lowers = NULL;
+    free_device(WP_CURRENT_CONTEXT, bvh.node_uppers); bvh.node_uppers = NULL;
+    free_device(WP_CURRENT_CONTEXT, bvh.node_parents); bvh.node_parents = NULL;
+    free_device(WP_CURRENT_CONTEXT, bvh.node_counts); bvh.node_counts = NULL;
+    free_device(WP_CURRENT_CONTEXT, bvh.root); bvh.root = NULL;
 }
 
 } // namespace wp
 
-// refit to data stored in the bvh
 
 void bvh_refit_device(uint64_t id)
 {
@@ -131,12 +475,51 @@ void bvh_refit_device(uint64_t id)
     if (bvh_get_descriptor(id, bvh))
     {
         ContextGuard guard(bvh.context);
-        wp_launch_device(WP_CURRENT_CONTEXT, wp::set_bounds_from_lowers_and_uppers, bvh.num_bounds, (bvh.num_bounds, bvh.bounds, bvh.lowers, bvh.uppers));
 
-        bvh_refit_device(bvh, bvh.bounds);
+        bvh_refit_device(bvh);
     }
+}
 
+uint64_t bvh_create_device(void* context, wp::vec3* lowers, wp::vec3* uppers, int num_items)
+{
+    ContextGuard guard(context);
+
+    wp::BVH bvh_host;
+    bvh_host.num_items = num_items;
+    bvh_host.max_nodes = 2*num_items;
+    bvh_host.node_lowers = (wp::BVHPackedNodeHalf*)alloc_device(WP_CURRENT_CONTEXT, sizeof(wp::BVHPackedNodeHalf)*bvh_host.max_nodes);
+    bvh_host.node_uppers = (wp::BVHPackedNodeHalf*)alloc_device(WP_CURRENT_CONTEXT, sizeof(wp::BVHPackedNodeHalf)*bvh_host.max_nodes);
+    bvh_host.node_parents = (int*)alloc_device(WP_CURRENT_CONTEXT, sizeof(int)*bvh_host.max_nodes);
+    bvh_host.node_counts = (int*)alloc_device(WP_CURRENT_CONTEXT, sizeof(int)*bvh_host.max_nodes);
+    bvh_host.root = (int*)alloc_device(WP_CURRENT_CONTEXT, sizeof(int));
+    bvh_host.item_lowers = lowers;
+    bvh_host.item_uppers = uppers;
+
+    bvh_host.context = context ? context : cuda_context_get_current();
+
+    wp::LinearBVHBuilderGPU builder;
+    builder.build(bvh_host, lowers, uppers, num_items, NULL);
+
+    // create device-side BVH descriptor
+    wp::BVH* bvh_device = (wp::BVH*)alloc_device(WP_CURRENT_CONTEXT, sizeof(wp::BVH));
+    memcpy_h2d(WP_CURRENT_CONTEXT, bvh_device, &bvh_host, sizeof(wp::BVH));
+        
+    uint64_t bvh_id = (uint64_t)bvh_device;
+    wp::bvh_add_descriptor(bvh_id, bvh_host);
+
+    return bvh_id;
 }
 
 
+void bvh_destroy_device(uint64_t id)
+{
+    wp::BVH bvh;
+    if (wp::bvh_get_descriptor(id, bvh))
+    {
+        wp::bvh_destroy_device(bvh);
+        wp::bvh_rem_descriptor(id);
 
+        // free descriptor
+        free_device(WP_CURRENT_CONTEXT, (void*)id);
+    }
+}

warp/native/bvh.h

@@ -113,7 +113,7 @@ struct BVHPackedNodeHalf
 };
 
 struct BVH
-{
+{		
     BVHPackedNodeHalf* node_lowers;
     BVHPackedNodeHalf* node_uppers;
 
@@ -123,33 +123,22 @@ struct BVH
 	
 	int max_depth;
 	int max_nodes;
-    int num_nodes;
-
-	int root;
+	int num_nodes;
+	
+	// pointer (CPU or GPU) to a single integer index in node_lowers, node_uppers
+	// representing the root of the tree, this is not always the first node
+	// for bottom-up builders
+	int* root;
 
-    vec3* lowers;
-	vec3* uppers;
-	bounds3* bounds;
-	int num_bounds;
+	// item bounds are not owned by the BVH but by the caller
+    vec3* item_lowers;
+	vec3* item_uppers;
+	int num_items;
 
+	// cuda context
 	void* context;
 };
 
-#if !defined(__CUDA_ARCH__)
-
-BVH bvh_create(const bounds3* bounds, int num_bounds);
-
-void bvh_destroy_host(BVH& bvh);
-void bvh_destroy_device(BVH& bvh);
-
-void bvh_refit_host(BVH& bvh, const bounds3* bounds);
-void bvh_refit_device(BVH& bvh, const bounds3* bounds);
-
-// copy host BVH to device
-BVH bvh_clone(void* context, const BVH& bvh_host);
-
-#endif  // !__CUDA_ARCH__
-
 CUDA_CALLABLE inline BVHPackedNodeHalf make_node(const vec3& bound, int child, bool leaf)
 {
     BVHPackedNodeHalf n;
@@ -162,7 +151,7 @@ CUDA_CALLABLE inline BVHPackedNodeHalf make_node(const vec3& bound, int child, b
     return n;
 }
 
-// variation of make_node through volatile pointers used in BuildHierarchy
+// variation of make_node through volatile pointers used in build_hierarchy
 CUDA_CALLABLE inline void make_node(volatile BVHPackedNodeHalf* n, const vec3& bound, int child, bool leaf)
 {
     n->x = bound[0];
@@ -211,7 +200,7 @@ CUDA_CALLABLE inline BVH bvh_get(uint64_t id)
 CUDA_CALLABLE inline int bvh_get_num_bounds(uint64_t id)
 {
 	BVH bvh = bvh_get(id);
-	return bvh.num_bounds;
+	return bvh.num_items;
 }
 
 
@@ -220,11 +209,20 @@ CUDA_CALLABLE inline int bvh_get_num_bounds(uint64_t id)
 struct bvh_query_t
 {
     CUDA_CALLABLE bvh_query_t()
+        : bvh(),
+          stack(),
+          count(0),
+          is_ray(false),
+          input_lower(),
+          input_upper(),
+          bounds_nr(0)
+    {}
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline bvh_query_t& operator+=(const bvh_query_t& other)
     {
+        return *this;
     }
-    CUDA_CALLABLE bvh_query_t(int)
-    {
-    } // for backward pass
 
     BVH bvh;
 
@@ -257,17 +255,8 @@ CUDA_CALLABLE inline bvh_query_t bvh_query(
 	query.bvh = bvh;
 	query.is_ray = is_ray;
 
-
-    // if no bvh nodes, return empty query.
-    if (bvh.num_nodes == 0)
-    {
-		query.count = 0;
-		return query;
-	}
-
-    // optimization: make the latest
-	
-	query.stack[0] = bvh.root;
+    // optimization: make the latest	
+	query.stack[0] = *bvh.root;
 	query.count = 1;
     query.input_lower = lower;
     query.input_upper = upper;
@@ -422,17 +411,19 @@ CUDA_CALLABLE inline void adj_bvh_query_next(bvh_query_t& query, int& index, bvh
 
 }
 
-
-
-
 CUDA_CALLABLE bool bvh_get_descriptor(uint64_t id, BVH& bvh);
 CUDA_CALLABLE void bvh_add_descriptor(uint64_t id, const BVH& bvh);
 CUDA_CALLABLE void bvh_rem_descriptor(uint64_t id);
 
+#if !__CUDA_ARCH__
 
+void bvh_destroy_host(wp::BVH& bvh);
+void bvh_refit_host(wp::BVH& bvh);
 
+void bvh_destroy_device(wp::BVH& bvh);
+void bvh_refit_device(uint64_t id);
 
-
+#endif
 
 } // namespace wp
 

warp/native/clang/clang.cpp

@@ -63,14 +63,14 @@ extern void __jit_debug_register_code();
 }
 
 namespace wp {
-	
+
 #if defined (_WIN32)
-	// Windows defaults to using the COFF binary format (aka. "msvc" in the target triple).
-	// Override it to use the ELF format to support DWARF debug info, but keep using the
-	// Microsoft calling convention (see also https://llvm.org/docs/DebuggingJITedCode.html).
-	static const char* target_triple = "x86_64-pc-windows-elf";
+    // Windows defaults to using the COFF binary format (aka. "msvc" in the target triple).
+    // Override it to use the ELF format to support DWARF debug info, but keep using the
+    // Microsoft calling convention (see also https://llvm.org/docs/DebuggingJITedCode.html).
+    static const char* target_triple = "x86_64-pc-windows-elf";
 #else
-	static const char* target_triple = LLVM_DEFAULT_TARGET_TRIPLE;
+    static const char* target_triple = LLVM_DEFAULT_TARGET_TRIPLE;
 #endif
 
 static void initialize_llvm()
@@ -95,6 +95,11 @@ static std::unique_ptr<llvm::Module> cpp_to_llvm(const std::string& input_file,
     args.push_back("-triple");
     args.push_back(target_triple);
 
+    #if defined(__x86_64__) || defined(_M_X64)
+        args.push_back("-target-feature");
+        args.push_back("+f16c");  // Enables support for _Float16
+    #endif
+
     clang::IntrusiveRefCntPtr<clang::DiagnosticOptions> diagnostic_options = new clang::DiagnosticOptions();
     std::unique_ptr<clang::TextDiagnosticPrinter> text_diagnostic_printer =
             std::make_unique<clang::TextDiagnosticPrinter>(llvm::errs(), &*diagnostic_options);
@@ -354,6 +359,7 @@ WP_API int load_obj(const char* object_file, const char* module_name)
             SYMBOL(log10f), SYMBOL_T(log10, double(*)(double)),
             SYMBOL(expf), SYMBOL_T(exp, double(*)(double)),
             SYMBOL(sqrtf), SYMBOL_T(sqrt, double(*)(double)),
+            SYMBOL(cbrtf), SYMBOL_T(cbrt, double(*)(double)),
             SYMBOL(powf), SYMBOL_T(pow, double(*)(double, double)),
             SYMBOL(floorf), SYMBOL_T(floor, double(*)(double)),
             SYMBOL(ceilf), SYMBOL_T(ceil, double(*)(double)),
@@ -382,8 +388,7 @@ WP_API int load_obj(const char* object_file, const char* module_name)
             SYMBOL(__chkstk),
         #elif defined(__APPLE__)
             SYMBOL(__bzero),
-            SYMBOL(__sincos_stret),
-            SYMBOL(__sincosf_stret),
+            SYMBOL(__sincos_stret), SYMBOL(__sincosf_stret),
         #else
             SYMBOL(sincosf), SYMBOL_T(sincos, void(*)(double,double*,double*)),
         #endif