warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp/native/bvh.cpp

@@ -0,0 +1,492 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <vector>
+#include <algorithm>
+
+#include "bvh.h"
+#include "warp.h"
+#include "cuda_util.h"
+
+#include <map>
+
+using namespace wp;
+
+namespace wp
+{
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+
+class TopDownBVHBuilder
+{	
+public:
+
+    void build(BVH& bvh, const vec3* lowers, const vec3* uppers, int n, int in_constructor_type);
+
+private:
+
+    bounds3 calc_bounds(const vec3* lowers, const vec3* uppers, const int* indices, int start, int end);
+
+    int partition_median(const vec3* lowers, const vec3* uppers, int* indices, int start, int end, bounds3 range_bounds);
+    int partition_midpoint(const vec3* lowers, const vec3* uppers, int* indices, int start, int end, bounds3 range_bounds);
+    float partition_sah(BVH& bvh, const vec3* lowers, const vec3* uppers,
+       int start, int end, bounds3 range_bounds, int& split_axis);
+
+    int build_recursive(BVH& bvh, const vec3* lowers, const vec3* uppers, int start, int end, int depth, int parent);
+
+    int constructor_type = -1;
+};
+
+//////////////////////////////////////////////////////////////////////
+
+void TopDownBVHBuilder::build(BVH& bvh, const vec3* lowers, const vec3* uppers, int n, int in_constructor_type)
+{
+    constructor_type = in_constructor_type;
+    if (constructor_type != BVH_CONSTRUCTOR_SAH && constructor_type != BVH_CONSTRUCTOR_MEDIAN)
+    {
+        printf("Unrecognized Constructor type: %d! For CPU constructor it should be either SAH (%d) or Median (%d)!\n",
+            constructor_type, BVH_CONSTRUCTOR_SAH, BVH_CONSTRUCTOR_MEDIAN);
+        return;
+    }
+
+    bvh.max_depth = 0;
+    bvh.max_nodes = 2*n-1;
+
+    bvh.node_lowers = new BVHPackedNodeHalf[bvh.max_nodes];
+    bvh.node_uppers = new BVHPackedNodeHalf[bvh.max_nodes];
+    bvh.node_parents = new int[bvh.max_nodes];
+    bvh.node_counts = NULL;
+
+    // root is always in first slot for top down builders
+    bvh.root = new int[1];
+    bvh.root[0] = 0;
+
+    if (n == 0)
+        return;
+    
+    bvh.primitive_indices = new int[n];
+    for (int i = 0; i < n; ++i)
+        bvh.primitive_indices[i] = i;
+
+    build_recursive(bvh, lowers, uppers,  0, n, 0, -1);
+}
+
+
+bounds3 TopDownBVHBuilder::calc_bounds(const vec3* lowers, const vec3* uppers, const int* indices, int start, int end)
+{
+    bounds3 u;
+
+    for (int i=start; i < end; ++i)
+    {
+        u.add_bounds(lowers[indices[i]], uppers[indices[i]]);
+    }
+
+    return u;
+}
+
+struct PartitionPredicateMedian
+{
+    PartitionPredicateMedian(const vec3* lowers, const vec3* uppers, int a) : lowers(lowers), uppers(uppers), axis(a) {}
+
+    bool operator()(int a, int b) const
+    {
+        vec3 a_center = 0.5f*(lowers[a] + uppers[a]);
+        vec3 b_center = 0.5f*(lowers[b] + uppers[b]);
+        
+        return a_center[axis] < b_center[axis];
+    }
+
+    const vec3* lowers;
+    const vec3* uppers;
+    int axis;
+};
+
+
+int TopDownBVHBuilder::partition_median(const vec3* lowers, const vec3* uppers, int* indices, int start, int end, bounds3 range_bounds)
+{
+    assert(end-start >= 2);
+
+    vec3 edges = range_bounds.edges();
+
+    int axis = longest_axis(edges);
+
+    const int k = (start+end)/2;
+
+    std::nth_element(&indices[start], &indices[k], &indices[end], PartitionPredicateMedian(lowers, uppers, axis));
+
+    return k;
+}	
+    
+struct PartitionPredicateMidPoint
+{
+    PartitionPredicateMidPoint(const vec3* lowers, const vec3* uppers, int a, float m) : lowers(lowers), uppers(uppers), axis(a), mid(m) {}
+
+    bool operator()(int index) const 
+    {
+        vec3 center = 0.5f*(lowers[index] + uppers[index]);
+
+        return center[axis] <= mid;
+    }
+
+    const vec3* lowers;
+    const vec3* uppers;
+    
+    int axis;
+    float mid;
+};
+
+
+int TopDownBVHBuilder::partition_midpoint(const vec3* lowers, const vec3* uppers, int* indices, int start, int end, bounds3 range_bounds)
+{
+    assert(end-start >= 2);
+
+    vec3 edges = range_bounds.edges();
+    vec3 center = range_bounds.center();
+
+    int axis = longest_axis(edges);
+    float mid = center[axis];
+
+    int* upper = std::partition(indices+start, indices+end, PartitionPredicateMidPoint(lowers, uppers, axis, mid));
+
+    int k = upper-indices;
+
+    // if we failed to split items then just split in the middle
+    if (k == start || k == end)
+        k = (start+end)/2;
+
+    return k;
+}
+
+float TopDownBVHBuilder::partition_sah(BVH& bvh, const vec3* lowers, const vec3* uppers, int start, int end, bounds3 range_bounds, int& split_axis)
+{
+    int buckets_counts[SAH_NUM_BUCKETS];
+    bounds3 buckets[SAH_NUM_BUCKETS];
+    float left_areas[SAH_NUM_BUCKETS - 1];
+    float right_areas[SAH_NUM_BUCKETS - 1];
+
+    assert(end - start >= 2);
+
+    int n = end - start;
+    vec3 edges = range_bounds.edges();
+
+    bounds3 b = calc_bounds(lowers, uppers, bvh.primitive_indices, start, end);
+
+    split_axis = longest_axis(edges);
+
+    // compute each bucket
+    float range_start = b.lower[split_axis];
+    float range_end = b.upper[split_axis];
+
+    std::fill(buckets_counts, buckets_counts + SAH_NUM_BUCKETS, 0);
+    for (int item_idx = start; item_idx < end; item_idx++)
+    {
+        vec3 item_center = 0.5f * (lowers[bvh.primitive_indices[item_idx]] + uppers[bvh.primitive_indices[item_idx]]);
+        int bucket_idx = SAH_NUM_BUCKETS * (item_center[split_axis] - range_start) / (range_end - range_start);
+        assert(bucket_idx >= 0 && bucket_idx <= SAH_NUM_BUCKETS);
+        // one of them will have the range_end, we put it into the last bucket
+        bucket_idx = bucket_idx < SAH_NUM_BUCKETS ? bucket_idx : SAH_NUM_BUCKETS - 1;
+
+        bounds3 item_bound(lowers[bvh.primitive_indices[item_idx]], uppers[bvh.primitive_indices[item_idx]]);
+
+        if (buckets_counts[bucket_idx])
+        {
+            buckets[bucket_idx] = bounds_union(item_bound, buckets[bucket_idx]);
+        }
+        else
+        {
+            buckets[bucket_idx] = item_bound;
+        }
+
+        buckets_counts[bucket_idx]++;
+    }
+
+    bounds3 left;
+    bounds3 right;
+
+    // n - 1 division points for n buckets
+    int counts_l[SAH_NUM_BUCKETS - 1];
+    int counts_r[SAH_NUM_BUCKETS - 1];
+
+    int count_l = 0;
+    int count_r = 0;
+    // build cumulative bounds and area from left and right
+    for (int i = 0; i < SAH_NUM_BUCKETS - 1; ++i)
+    {
+        bounds3 bound_start = buckets[i];
+        bounds3 bound_end = buckets[SAH_NUM_BUCKETS - i - 1];
+
+        left = bounds_union(left, bound_start);
+        right = bounds_union(right, bound_end);
+
+        left_areas[i] = left.area();
+        right_areas[SAH_NUM_BUCKETS - i - 2] = right.area();
+
+        count_l += buckets_counts[i];
+        count_r += buckets_counts[SAH_NUM_BUCKETS - i - 1];
+
+        counts_l[i] = count_l;
+        counts_r[SAH_NUM_BUCKETS - i - 2] = count_r;
+    }
+
+    float invTotalArea = 1.0f / range_bounds.area();
+
+    // find split point i that minimizes area(left[i]) * count[left[i]] + area(right[i]) * count[right[i]]
+    int minSplit = 0;
+    float minCost = FLT_MAX;
+    for (int i = 0; i < SAH_NUM_BUCKETS - 1; ++i)
+    {
+        float pBelow = left_areas[i] * invTotalArea;
+        float pAbove = right_areas[i] * invTotalArea;
+
+        float cost = pBelow * counts_l[i] + pAbove * counts_r[i];
+
+        if (cost < minCost)
+        {
+            minCost = cost;
+            minSplit = i;
+        }
+    }
+
+    // return the dividing 
+    assert(minSplit >= 0 && minSplit < SAH_NUM_BUCKETS - 1);
+    float split_point = range_start + (minSplit + 1) * (range_end - range_start) / SAH_NUM_BUCKETS;
+
+    return split_point;
+}
+
+int TopDownBVHBuilder::build_recursive(BVH& bvh, const vec3* lowers, const vec3* uppers, int start, int end, int depth, int parent)
+{
+    assert(start < end);
+
+    // printf("start %d end %d\n", start, end);
+
+    const int n = end - start;
+    const int node_index = bvh.num_nodes++;
+
+    assert(node_index < bvh.max_nodes);
+
+    if (depth > bvh.max_depth)
+        bvh.max_depth = depth;
+
+    bounds3 b = calc_bounds(lowers, uppers, bvh.primitive_indices, start, end);
+
+    // If the depth exceeds BVH_QUERY_STACK_SIZE, an out-of-bounds access bug may occur during querying.
+    // In that case, we merge the following nodes into a single large leaf node.
+    if (n <= BVH_LEAF_SIZE || depth >= BVH_QUERY_STACK_SIZE - 1)
+    {
+        bvh.node_lowers[node_index] = make_node(b.lower, start, true);
+        bvh.node_uppers[node_index] = make_node(b.upper, end, false);
+        bvh.node_parents[node_index] = parent;
+        bvh.num_leaf_nodes++;
+    }
+    else
+    {
+        int split = -1;
+        if (constructor_type == BVH_CONSTRUCTOR_SAH)
+            // SAH constructor
+        {
+            int split_axis = -1;
+            float split_point = partition_sah(bvh, lowers, uppers, start, end, b, split_axis);
+            auto boundary = std::partition(bvh.primitive_indices + start, bvh.primitive_indices + end,
+                [&](int i) {
+                    return 0.5f * (lowers[i] + uppers[i])[split_axis] < split_point;
+                });
+
+            split = std::distance(bvh.primitive_indices + start, boundary) + start;
+        }
+        else if (constructor_type == BVH_CONSTRUCTOR_MEDIAN)
+            // Median constructor
+        {
+            split = partition_median(lowers, uppers, bvh.primitive_indices, start, end, b);
+        }
+        else
+        {
+            printf("Unknown type of BVH constructor: %d!\n", constructor_type);
+            return -1;
+        }
+
+        if (split == start || split == end)
+        {
+            // partitioning failed, split down the middle
+            split = (start + end) / 2;
+        }
+
+        int left_child = build_recursive(bvh, lowers, uppers, start, split, depth + 1, node_index);
+        int right_child = build_recursive(bvh, lowers, uppers, split, end, depth + 1, node_index);
+
+        bvh.node_lowers[node_index] = make_node(b.lower, left_child, false);
+        bvh.node_uppers[node_index] = make_node(b.upper, right_child, false);
+        bvh.node_parents[node_index] = parent;
+    }
+
+    return node_index;
+}
+
+
+void bvh_refit_recursive(BVH& bvh, int index)
+{
+    BVHPackedNodeHalf& lower = bvh.node_lowers[index];
+    BVHPackedNodeHalf& upper = bvh.node_uppers[index];
+
+    if (lower.b)
+    {
+        // update leaf from items
+        bounds3 bound;
+        for (int item_counter = lower.i; item_counter < upper.i; item_counter++)
+        {
+            const int item = bvh.primitive_indices[item_counter];
+            bound.add_bounds(bvh.item_lowers[item], bvh.item_uppers[item]);
+        }
+
+        (vec3&)lower = bound.lower;
+        (vec3&)upper = bound.upper;
+    }
+    else
+    {
+        int left_index = lower.i;
+        int right_index = upper.i;
+
+        bvh_refit_recursive(bvh, left_index);
+        bvh_refit_recursive(bvh, right_index);
+
+        // compute union of children
+        const vec3& left_lower = (vec3&)bvh.node_lowers[left_index];
+        const vec3& left_upper = (vec3&)bvh.node_uppers[left_index];
+
+        const vec3& right_lower = (vec3&)bvh.node_lowers[right_index];
+        const vec3& right_upper = (vec3&)bvh.node_uppers[right_index];
+
+        // union of child bounds
+        vec3 new_lower = min(left_lower, right_lower);
+        vec3 new_upper = max(left_upper, right_upper);
+        
+        // write new BVH nodes
+        (vec3&)lower = new_lower;
+        (vec3&)upper = new_upper;
+    }
+}
+
+void bvh_refit_host(BVH& bvh)
+{
+    bvh_refit_recursive(bvh, 0);
+}
+
+
+} // namespace wp
+
+
+// making the class accessible from python
+
+
+namespace 
+{
+    // host-side copy of bvh descriptors, maps GPU bvh address (id) to a CPU desc
+    std::map<uint64_t, BVH> g_bvh_descriptors;
+
+} // anonymous namespace
+
+
+namespace wp
+{
+
+bool bvh_get_descriptor(uint64_t id, BVH& bvh)
+{
+    const auto& iter = g_bvh_descriptors.find(id);
+    if (iter == g_bvh_descriptors.end())
+        return false;
+    else
+        bvh = iter->second;
+        return true;
+}
+
+void bvh_add_descriptor(uint64_t id, const BVH& bvh)
+{
+    g_bvh_descriptors[id] = bvh;
+    
+}
+
+void bvh_rem_descriptor(uint64_t id)
+{
+    g_bvh_descriptors.erase(id);
+
+}
+
+
+// create in-place given existing descriptor
+void bvh_create_host(vec3* lowers, vec3* uppers, int num_items, int constructor_type, BVH& bvh)
+{
+    memset(&bvh, 0, sizeof(BVH));
+
+    bvh.item_lowers = lowers;
+    bvh.item_uppers = uppers;
+    bvh.num_items = num_items;
+
+    TopDownBVHBuilder builder;
+    builder.build(bvh, lowers, uppers, num_items, constructor_type);
+}
+
+void bvh_destroy_host(BVH& bvh)
+{
+    delete[] bvh.node_lowers;
+    delete[] bvh.node_uppers;
+    delete[] bvh.node_parents;
+    delete[] bvh.primitive_indices;
+    delete[] bvh.root;
+
+    bvh.node_lowers = NULL;
+    bvh.node_uppers = NULL;
+    bvh.node_parents = NULL;
+    bvh.primitive_indices = NULL;
+    bvh.root = NULL;
+
+    bvh.max_nodes = 0;
+    bvh.num_items = 0;
+}
+
+} // namespace wp
+
+uint64_t bvh_create_host(vec3* lowers, vec3* uppers, int num_items, int constructor_type)
+{
+    BVH* bvh = new BVH();
+    wp::bvh_create_host(lowers, uppers, num_items, constructor_type, *bvh);
+
+    return (uint64_t)bvh;
+}
+
+void bvh_refit_host(uint64_t id)
+{
+    BVH* bvh = (BVH*)(id);
+    bvh_refit_host(*bvh);
+}
+
+void bvh_destroy_host(uint64_t id)
+{
+    BVH* bvh = (BVH*)(id);
+    bvh_destroy_host(*bvh);
+    delete bvh;
+}
+
+
+// stubs for non-CUDA platforms
+#if !WP_ENABLE_CUDA
+
+uint64_t bvh_create_device(void* context, wp::vec3* lowers, wp::vec3* uppers, int num_items, int constructor_type) { return 0; }
+void bvh_refit_device(uint64_t id) {}
+void bvh_destroy_device(uint64_t id) {}
+
+#endif // !WP_ENABLE_CUDA