// Copyright 2009-2021 Intel Corporation // SPDX-License-Identifier: Apache-2.0 #include "bvh_collider.h" #include "../geometry/triangle_triangle_intersector.h" namespace embree { namespace isa { #define CSTAT(x) size_t parallel_depth_threshold = 3; CSTAT(std::atomic<size_t> bvh_collide_traversal_steps(0)); CSTAT(std::atomic<size_t> bvh_collide_leaf_pairs(0)); CSTAT(std::atomic<size_t> bvh_collide_leaf_iterations(0)); CSTAT(std::atomic<size_t> bvh_collide_prim_intersections1(0)); CSTAT(std::atomic<size_t> bvh_collide_prim_intersections2(0)); CSTAT(std::atomic<size_t> bvh_collide_prim_intersections3(0)); CSTAT(std::atomic<size_t> bvh_collide_prim_intersections4(0)); CSTAT(std::atomic<size_t> bvh_collide_prim_intersections5(0)); CSTAT(std::atomic<size_t> bvh_collide_prim_intersections(0)); struct Collision { __forceinline Collision() {} __forceinline Collision (unsigned geomID0, unsigned primID0, unsigned geomID1, unsigned primID1) : geomID0(geomID0), primID0(primID0), geomID1(geomID1), primID1(primID1) {} unsigned geomID0; unsigned primID0; unsigned geomID1; unsigned primID1; }; template<int N> __forceinline size_t overlap(const BBox3fa& box0, const typename BVHN<N>::AABBNode& node1) { const vfloat<N> lower_x = max(vfloat<N>(box0.lower.x),node1.lower_x); const vfloat<N> lower_y = max(vfloat<N>(box0.lower.y),node1.lower_y); const vfloat<N> lower_z = max(vfloat<N>(box0.lower.z),node1.lower_z); const vfloat<N> upper_x = min(vfloat<N>(box0.upper.x),node1.upper_x); const vfloat<N> upper_y = min(vfloat<N>(box0.upper.y),node1.upper_y); const vfloat<N> upper_z = min(vfloat<N>(box0.upper.z),node1.upper_z); return movemask((lower_x <= upper_x) & (lower_y <= upper_y) & (lower_z <= upper_z)); } template<int N> __forceinline size_t overlap(const BBox3fa& box0, const BBox<Vec3<vfloat<N>>>& box1) { const vfloat<N> lower_x = max(vfloat<N>(box0.lower.x),box1.lower.x); const vfloat<N> lower_y = max(vfloat<N>(box0.lower.y),box1.lower.y); const vfloat<N> lower_z = max(vfloat<N>(box0.lower.z),box1.lower.z); const vfloat<N> upper_x = min(vfloat<N>(box0.upper.x),box1.upper.x); const vfloat<N> upper_y = min(vfloat<N>(box0.upper.y),box1.upper.y); const vfloat<N> upper_z = min(vfloat<N>(box0.upper.z),box1.upper.z); return movemask((lower_x <= upper_x) & (lower_y <= upper_y) & (lower_z <= upper_z)); } template<int N> __forceinline size_t overlap(const BBox<Vec3<vfloat<N>>>& box0, size_t i, const BBox<Vec3<vfloat<N>>>& box1) { const vfloat<N> lower_x = max(vfloat<N>(box0.lower.x[i]),box1.lower.x); const vfloat<N> lower_y = max(vfloat<N>(box0.lower.y[i]),box1.lower.y); const vfloat<N> lower_z = max(vfloat<N>(box0.lower.z[i]),box1.lower.z); const vfloat<N> upper_x = min(vfloat<N>(box0.upper.x[i]),box1.upper.x); const vfloat<N> upper_y = min(vfloat<N>(box0.upper.y[i]),box1.upper.y); const vfloat<N> upper_z = min(vfloat<N>(box0.upper.z[i]),box1.upper.z); return movemask((lower_x <= upper_x) & (lower_y <= upper_y) & (lower_z <= upper_z)); } bool intersect_triangle_triangle (Scene* scene0, unsigned geomID0, unsigned primID0, Scene* scene1, unsigned geomID1, unsigned primID1) { CSTAT(bvh_collide_prim_intersections1++); const TriangleMesh* mesh0 = scene0->get<TriangleMesh>(geomID0); const TriangleMesh* mesh1 = scene1->get<TriangleMesh>(geomID1); const TriangleMesh::Triangle& tri0 = mesh0->triangle(primID0); const TriangleMesh::Triangle& tri1 = mesh1->triangle(primID1); /* special culling for scene intersection with itself */ if (scene0 == scene1 && geomID0 == geomID1) { /* ignore self intersections */ if (primID0 == primID1) return false; } CSTAT(bvh_collide_prim_intersections2++); if (scene0 == scene1 && geomID0 == geomID1) { /* ignore intersection with topological neighbors */ const vint4 t0(tri0.v[0],tri0.v[1],tri0.v[2],tri0.v[2]); if (any(vint4(tri1.v[0]) == t0)) return false; if (any(vint4(tri1.v[1]) == t0)) return false; if (any(vint4(tri1.v[2]) == t0)) return false; } CSTAT(bvh_collide_prim_intersections3++); const Vec3fa a0 = mesh0->vertex(tri0.v[0]); const Vec3fa a1 = mesh0->vertex(tri0.v[1]); const Vec3fa a2 = mesh0->vertex(tri0.v[2]); const Vec3fa b0 = mesh1->vertex(tri1.v[0]); const Vec3fa b1 = mesh1->vertex(tri1.v[1]); const Vec3fa b2 = mesh1->vertex(tri1.v[2]); return TriangleTriangleIntersector::intersect_triangle_triangle(a0,a1,a2,b0,b1,b2); } template<int N> __forceinline void BVHNColliderUserGeom<N>::processLeaf(NodeRef node0, NodeRef node1) { Collision collisions[16]; size_t num_collisions = 0; size_t N0; Object* leaf0 = (Object*) node0.leaf(N0); size_t N1; Object* leaf1 = (Object*) node1.leaf(N1); for (size_t i=0; i<N0; i++) { for (size_t j=0; j<N1; j++) { const unsigned geomID0 = leaf0[i].geomID(); const unsigned primID0 = leaf0[i].primID(); const unsigned geomID1 = leaf1[j].geomID(); const unsigned primID1 = leaf1[j].primID(); if (this->scene0 == this->scene1 && geomID0 == geomID1 && primID0 == primID1) continue; collisions[num_collisions++] = Collision(geomID0,primID0,geomID1,primID1); if (num_collisions == 16) { this->callback(this->userPtr,(RTCCollision*)&collisions,num_collisions); num_collisions = 0; } } } if (num_collisions) this->callback(this->userPtr,(RTCCollision*)&collisions,num_collisions); } template<int N> void BVHNCollider<N>::collide_recurse(NodeRef ref0, const BBox3fa& bounds0, NodeRef ref1, const BBox3fa& bounds1, size_t depth0, size_t depth1) { CSTAT(bvh_collide_traversal_steps++); if (unlikely(ref0.isLeaf())) { if (unlikely(ref1.isLeaf())) { CSTAT(bvh_collide_leaf_pairs++); processLeaf(ref0,ref1); return; } else goto recurse_node1; } else { if (unlikely(ref1.isLeaf())) { goto recurse_node0; } else { if (area(bounds0) > area(bounds1)) { goto recurse_node0; } else { goto recurse_node1; } } } { recurse_node0: AABBNode* node0 = ref0.getAABBNode(); size_t mask = overlap<N>(bounds1,*node0); //for (size_t m=mask, i=bsf(m); m!=0; m=btc(m,i), i=bsf(m)) { //for (size_t i=0; i<N; i++) { #if 0 if (depth0 < parallel_depth_threshold) { parallel_for(size_t(N), [&] ( size_t i ) { if (mask & ( 1 << i)) { BVHN<N>::prefetch(node0->child(i),BVH_FLAG_ALIGNED_NODE); collide_recurse(node0->child(i),node0->bounds(i),ref1,bounds1,depth0+1,depth1); } }); } else #endif { for (size_t m=mask, i=bsf(m); m!=0; m=btc(m,i), i=bsf(m)) { BVHN<N>::prefetch(node0->child(i),BVH_FLAG_ALIGNED_NODE); collide_recurse(node0->child(i),node0->bounds(i),ref1,bounds1,depth0+1,depth1); } } return; } { recurse_node1: AABBNode* node1 = ref1.getAABBNode(); size_t mask = overlap<N>(bounds0,*node1); //for (size_t m=mask, i=bsf(m); m!=0; m=btc(m,i), i=bsf(m)) { //for (size_t i=0; i<N; i++) { #if 0 if (depth1 < parallel_depth_threshold) { parallel_for(size_t(N), [&] ( size_t i ) { if (mask & ( 1 << i)) { BVHN<N>::prefetch(node1->child(i),BVH_FLAG_ALIGNED_NODE); collide_recurse(ref0,bounds0,node1->child(i),node1->bounds(i),depth0,depth1+1); } }); } else #endif { for (size_t m=mask, i=bsf(m); m!=0; m=btc(m,i), i=bsf(m)) { BVHN<N>::prefetch(node1->child(i),BVH_FLAG_ALIGNED_NODE); collide_recurse(ref0,bounds0,node1->child(i),node1->bounds(i),depth0,depth1+1); } } return; } } template<int N> void BVHNCollider<N>::split(const CollideJob& job, jobvector& jobs) { if (unlikely(job.ref0.isLeaf())) { if (unlikely(job.ref1.isLeaf())) { jobs.push_back(job); return; } else goto recurse_node1; } else { if (unlikely(job.ref1.isLeaf())) { goto recurse_node0; } else { if (area(job.bounds0) > area(job.bounds1)) { goto recurse_node0; } else { goto recurse_node1; } } } { recurse_node0: const AABBNode* node0 = job.ref0.getAABBNode(); size_t mask = overlap<N>(job.bounds1,*node0); for (size_t m=mask, i=bsf(m); m!=0; m=btc(m,i), i=bsf(m)) { jobs.push_back(CollideJob(node0->child(i),node0->bounds(i),job.depth0+1,job.ref1,job.bounds1,job.depth1)); } return; } { recurse_node1: const AABBNode* node1 = job.ref1.getAABBNode(); size_t mask = overlap<N>(job.bounds0,*node1); for (size_t m=mask, i=bsf(m); m!=0; m=btc(m,i), i=bsf(m)) { jobs.push_back(CollideJob(job.ref0,job.bounds0,job.depth0,node1->child(i),node1->bounds(i),job.depth1+1)); } return; } } template<int N> void BVHNCollider<N>::collide_recurse_entry(NodeRef ref0, const BBox3fa& bounds0, NodeRef ref1, const BBox3fa& bounds1) { CSTAT(bvh_collide_traversal_steps = 0); CSTAT(bvh_collide_leaf_pairs = 0); CSTAT(bvh_collide_leaf_iterations = 0); CSTAT(bvh_collide_prim_intersections1 = 0); CSTAT(bvh_collide_prim_intersections2 = 0); CSTAT(bvh_collide_prim_intersections3 = 0); CSTAT(bvh_collide_prim_intersections4 = 0); CSTAT(bvh_collide_prim_intersections5 = 0); CSTAT(bvh_collide_prim_intersections = 0); #if 0 collide_recurse(ref0,bounds0,ref1,bounds1,0,0); #else const int M = 2048; jobvector jobs[2]; jobs[0].reserve(M); jobs[1].reserve(M); jobs[0].push_back(CollideJob(ref0,bounds0,0,ref1,bounds1,0)); int source = 0; int target = 1; /* try to split job until job list is full */ while (jobs[source].size()+8 <= M) { for (size_t i=0; i<jobs[source].size(); i++) { const CollideJob& job = jobs[source][i]; size_t remaining = jobs[source].size()-i; if (jobs[target].size()+remaining+8 > M) { jobs[target].push_back(job); } else { split(job,jobs[target]); } } /* stop splitting jobs if we reached only leaves and cannot make progress anymore */ if (jobs[target].size() == jobs[source].size()) break; jobs[source].resize(0); std::swap(source,target); } /* parallel processing of all jobs */ parallel_for(size_t(jobs[source].size()), [&] ( size_t i ) { CollideJob& j = jobs[source][i]; collide_recurse(j.ref0,j.bounds0,j.ref1,j.bounds1,j.depth0,j.depth1); }); #endif CSTAT(PRINT(bvh_collide_traversal_steps)); CSTAT(PRINT(bvh_collide_leaf_pairs)); CSTAT(PRINT(bvh_collide_leaf_iterations)); CSTAT(PRINT(bvh_collide_prim_intersections1)); CSTAT(PRINT(bvh_collide_prim_intersections2)); CSTAT(PRINT(bvh_collide_prim_intersections3)); CSTAT(PRINT(bvh_collide_prim_intersections4)); CSTAT(PRINT(bvh_collide_prim_intersections5)); CSTAT(PRINT(bvh_collide_prim_intersections)); } template<int N> void BVHNColliderUserGeom<N>::collide(BVH* __restrict__ bvh0, BVH* __restrict__ bvh1, RTCCollideFunc callback, void* userPtr) { BVHNColliderUserGeom<N>(bvh0->scene,bvh1->scene,callback,userPtr). collide_recurse_entry(bvh0->root,bvh0->bounds.bounds(),bvh1->root,bvh1->bounds.bounds()); } #if defined (EMBREE_LOWEST_ISA) struct collision_regression_test : public RegressionTest { collision_regression_test(const char* name) : RegressionTest(name) { registerRegressionTest(this); } bool run () { bool passed = true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(-0.008815f, 0.041848f, -2.49875e-06f), Vec3fa(-0.008276f, 0.053318f, -2.49875e-06f), Vec3fa(0.003023f, 0.048969f, -2.49875e-06f), Vec3fa(0.00245f, 0.037612f, -2.49875e-06f), Vec3fa(0.01434f, 0.042634f, -2.49875e-06f), Vec3fa(0.013499f, 0.031309f, -2.49875e-06f)) == false; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0,0,1),Vec3fa(1,0,1),Vec3fa(0,1,1)) == false; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0,0,1),Vec3fa(1,0,0),Vec3fa(0,1,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0,0,0),Vec3fa(1,0,1),Vec3fa(0,1,1)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0.1f,0.1f,0),Vec3fa(1,0,1),Vec3fa(0,1,1)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0.1f,0.1f,-0.1f),Vec3fa(1,0,1),Vec3fa(0,1,1)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0,0,0),Vec3fa(0.5f,0,0),Vec3fa(0,0.5f,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0.1f,0.1f,0),Vec3fa(0.5f,0,0),Vec3fa(0,0.5f,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0.1f,0.1f,0),Vec3fa(0.5f,0.1f,0),Vec3fa(0.1f,0.5f,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0.1f,-0.1f,0),Vec3fa(0.5f,0.1f,0),Vec3fa(0.1f,0.5f,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(-0.1f,0.1f,0),Vec3fa(0.5f,0.1f,0),Vec3fa(0.1f,0.5f,0)) == true; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(-1,1,0) + Vec3fa(0,0,0),Vec3fa(-1,1,0) + Vec3fa(0.1f,0,0),Vec3fa(-1,1,0) + Vec3fa(0,0.1f,0)) == false; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa( 2,0.5f,0) + Vec3fa(0,0,0),Vec3fa( 2,0.5f,0) + Vec3fa(0.1f,0,0),Vec3fa( 2,0.5f,0) + Vec3fa(0,0.1f,0)) == false; passed &= TriangleTriangleIntersector::intersect_triangle_triangle (Vec3fa(0,0,0),Vec3fa(1,0,0),Vec3fa(0,1,0), Vec3fa(0.5f,-2.0f,0) + Vec3fa(0,0,0),Vec3fa(0.5f,-2.0f,0) + Vec3fa(0.1f,0,0),Vec3fa(0.5f,-2.0f,0) + Vec3fa(0,0.1f,0)) == false; return passed; } }; collision_regression_test collision_regression("collision_regression_test"); #endif //////////////////////////////////////////////////////////////////////////////// /// Collider Definitions //////////////////////////////////////////////////////////////////////////////// DEFINE_COLLIDER(BVH4ColliderUserGeom,BVHNColliderUserGeom<4>); #if defined(__AVX__) DEFINE_COLLIDER(BVH8ColliderUserGeom,BVHNColliderUserGeom<8>); #endif } }