public unsafe void GetSelfOverlapsViaQueries <TResultList>(ref TResultList results) where TResultList : IList <Overlap>
{
var leafQueryResults = new QuickList <int>(BufferPools <int> .Thread);
for (int i = 0; i < leafCount; ++i)
{
var leaf = leaves[i];
BoundingBoxWide leafBoundingBox;
BoundingBoxWide.GetBoundingBox(ref Levels[leaf.LevelIndex].Nodes[leaf.NodeIndex].BoundingBoxes, leaf.ChildIndex, out leafBoundingBox);
TestRecursive(0, 0, ref leafBoundingBox, ref leafQueryResults);
for (int j = 0; j < leafQueryResults.Count; ++j)
{
//Only include results which which are forward in the list to avoid self tests.
if (i < leafQueryResults.Elements[j])
{
results.Add(new Overlap {
A = i, B = leafQueryResults.Elements[j]
});
}
}
leafQueryResults.Count = 0;
}
leafQueryResults.Dispose();
//Console.WriteLine("Query-based results:");
//for (int i = 0; i < results.Count; ++i)
//{
// Console.WriteLine($"{results[i].A}, {results[i].B}");
//}
}
unsafe void GetOverlapsBetweenDifferentNodes <TResultList>(int levelIndex, int aIndex, int bIndex, ref TResultList results) where TResultList : IList <Overlap>
{
//There are no shared children, so test them all.
var a = Levels[levelIndex].Nodes[aIndex];
var b = Levels[levelIndex].Nodes[bIndex];
int nextLevel = levelIndex + 1;
for (int i = 0; i < Vector <float> .Count; ++i)
{
if (a.Children[i] == -1)
{
continue;
}
//REALLY want a shuffle here. If we could just push forward, retest, push forward, retest...
//Unclear how much of a performance benefit this would actually be, since this is just a series of broadcasts.
//... not sure it's actually compiled to a series of broadcasts, though.
Vector <int> intersectionMask;
BoundingBoxWide aWide;
BoundingBoxWide.GetBoundingBox(ref a.BoundingBoxes, i, out aWide);
//var aChild = new Vector<int>(a.Children[i]);
//var less = Vector.LessThan(aChild, b.Children);
//var bChildIsVector.LessThan(b.Children, new Vector<int>(-1));
BoundingBoxWide.Intersects(ref aWide, ref b.BoundingBoxes, out intersectionMask);
for (int j = 0; j < Vector <float> .Count; ++j)
{
//TODO: would it be faster to compute a single combined value via simd and then use a single switch?
if (b.Children[j] != -1 && intersectionMask[j] < 0)
{
//TODO: try removing branches via bool ops
if (a.Children[i] >= 0 && b.Children[j] >= 0)
{
GetOverlapsBetweenDifferentNodes(nextLevel, a.Children[i], b.Children[j], ref results);
}
else if (a.Children[i] < -1 && b.Children[j] >= 0)
{
//leaf A versus node B.
TestLeafAgainstNode(Encode(a.Children[i]), ref aWide, nextLevel, b.Children[j], ref results);
}
else if (a.Children[i] >= 0 && b.Children[j] < -1)
{
//leaf B versus node A.
BoundingBoxWide bWide;
BoundingBoxWide.GetBoundingBox(ref b.BoundingBoxes, j, out bWide);
TestLeafAgainstNode(Encode(b.Children[j]), ref bWide, nextLevel, a.Children[i], ref results);
}
else if (a.Children[i] < -1 && b.Children[j] < -1)
{
//Two leaves.
var leafA = Encode(a.Children[i]);
var leafB = Encode(b.Children[j]);
results.Add(new Overlap {
A = leafA, B = leafB
});
}
}
}
}
}
public void Add(ref StreamingLeafGroup parent, int sourceIndex, int destinationIndex, Vector <int>[] masks)
{
//This is basically: a[i] = b[j]
var leavesBroadcast = new Vector <int>(parent.Leaves[sourceIndex]);
BoundingBoxWide boundsBroadcast;
BoundingBoxWide.GetBoundingBox(ref parent.BoundingBoxes, sourceIndex, out boundsBroadcast);
Leaves = Vector.ConditionalSelect(masks[destinationIndex], leavesBroadcast, Leaves);
BoundingBoxWide.ConditionalSelect(ref masks[destinationIndex], ref boundsBroadcast, ref BoundingBoxes, out BoundingBoxes);
}
public unsafe void GetSelfOverlapsViaStreamingQueries <TResultList>(ref TResultList results) where TResultList : IList <Overlap>
{
//var startTime = Stopwatch.GetTimestamp();
var rootTarget = new StreamingTarget {
LeafGroups = new QuickList <StreamingLeafGroup>(BufferPools <StreamingLeafGroup> .Locking, BufferPool <StreamingLeafGroup> .GetPoolIndex(LeafCount))
};
rootTarget.LeafGroups.Add(new StreamingLeafGroup());
for (int i = 0; i < LeafCount; ++i)
{
BoundingBoxWide leafWide;
BoundingBoxWide.GetBoundingBox(ref Levels[leaves[i].LevelIndex].Nodes[leaves[i].NodeIndex].BoundingBoxes, leaves[i].ChildIndex, out leafWide);
var leafIndexWide = new Vector <int>(i);
rootTarget.Add(ref leafIndexWide, ref leafWide, singleMasks);
}
//var endTime = Stopwatch.GetTimestamp();
//Console.WriteLine($"Initial target construction time: {(endTime - startTime) / (double)Stopwatch.Frequency}");
QuickQueue <StreamingTarget> targets = new QuickQueue <StreamingTarget>(BufferPools <StreamingTarget> .Locking, BufferPool <StreamingLeafGroup> .GetPoolIndex(LeafCount));
targets.Enqueue(ref rootTarget);
QuickList <int> fallbackResults = new QuickList <int>(BufferPools <int> .Locking);
StreamingTarget target;
while (targets.TryDequeueLast(out target))
{
const int GroupFallbackThreshold = 2; //unfortunately, this should be as high as possible right now because the regular query is faster, period.
if (target.LeafGroups.Count <= GroupFallbackThreshold)
{
var max = target.LastLeavesCount == Vector <int> .Count ? target.LeafGroups.Count : target.LeafGroups.Count - 1;
for (int leafGroupIndex = 0; leafGroupIndex < max; ++leafGroupIndex)
{
for (int leafInGroupIndex = 0; leafInGroupIndex < Vector <int> .Count; ++leafInGroupIndex)
{
BoundingBoxWide leafWide;
BoundingBoxWide.GetBoundingBox(ref target.LeafGroups.Elements[leafGroupIndex].BoundingBoxes, leafInGroupIndex, out leafWide);
TestRecursive(target.LevelIndex, target.NodeIndex, ref leafWide, ref fallbackResults);
for (int resultIndex = 0; resultIndex < fallbackResults.Count; ++resultIndex)
{
var queryLeafIndex = target.LeafGroups.Elements[leafGroupIndex].Leaves[leafInGroupIndex];
if (queryLeafIndex < fallbackResults.Elements[resultIndex])
{
results.Add(new Overlap {
A = queryLeafIndex, B = fallbackResults.Elements[resultIndex]
});
}
}
fallbackResults.Count = 0;
}
}
if (target.LastLeavesCount < Vector <int> .Count)
{
var leafGroupIndex = target.LeafGroups.Count - 1;
for (int leafInGroupIndex = 0; leafInGroupIndex < target.LastLeavesCount; ++leafInGroupIndex)
{
BoundingBoxWide leafWide;
BoundingBoxWide.GetBoundingBox(ref target.LeafGroups.Elements[leafGroupIndex].BoundingBoxes, leafInGroupIndex, out leafWide);
TestRecursive(target.LevelIndex, target.NodeIndex, ref leafWide, ref fallbackResults);
for (int resultIndex = 0; resultIndex < fallbackResults.Count; ++resultIndex)
{
var queryLeafIndex = target.LeafGroups.Elements[leafGroupIndex].Leaves[leafInGroupIndex];
if (queryLeafIndex < fallbackResults.Elements[resultIndex])
{
results.Add(new Overlap {
A = queryLeafIndex, B = fallbackResults.Elements[resultIndex]
});
}
}
fallbackResults.Count = 0;
}
}
}
else
{
var node = Levels[target.LevelIndex].Nodes[target.NodeIndex];
//Test each node child against all of the leaves for this node.
for (int nodeChildIndex = 0; nodeChildIndex < Vector <int> .Count; ++nodeChildIndex)
{
if (node.Children[nodeChildIndex] == -1)
{
continue;
}
BoundingBoxWide nodeChildWide;
BoundingBoxWide.GetBoundingBox(ref node.BoundingBoxes, nodeChildIndex, out nodeChildWide);
if (node.Children[nodeChildIndex] >= 0)
{
//Internal node. Can spawn more targets.
StreamingTarget newTarget = new StreamingTarget
{
LevelIndex = target.LevelIndex + 1,
NodeIndex = node.Children[nodeChildIndex],
LeafGroups = new QuickList <StreamingLeafGroup>(BufferPools <StreamingLeafGroup> .Locking, BufferPool <StreamingLeafGroup> .GetPoolIndex(target.LeafGroups.Count))
};
newTarget.LeafGroups.Add(new StreamingLeafGroup());
for (int leafGroupIndex = 0; leafGroupIndex < target.LeafGroups.Count; ++leafGroupIndex)
{
Vector <int> intersectionMask;
BoundingBoxWide.Intersects(ref nodeChildWide, ref target.LeafGroups.Elements[leafGroupIndex].BoundingBoxes, out intersectionMask);
int leafCountInGroup = leafGroupIndex == target.LeafGroups.Count - 1 ? target.LastLeavesCount : Vector <int> .Count;
for (int leafIndexInGroup = 0; leafIndexInGroup < leafCountInGroup; ++leafIndexInGroup)
{
if (intersectionMask[leafIndexInGroup] < 0)
{
newTarget.Add(ref target, leafGroupIndex, leafIndexInGroup, singleMasks);
}
}
}
targets.Enqueue(ref newTarget);
}
else
{
//Leaf node.
var nodeLeafIndex = Encode(node.Children[nodeChildIndex]);
for (int leafGroupIndex = 0; leafGroupIndex < target.LeafGroups.Count; ++leafGroupIndex)
{
Vector <int> intersectionMask;
BoundingBoxWide.Intersects(ref nodeChildWide, ref target.LeafGroups.Elements[leafGroupIndex].BoundingBoxes, out intersectionMask);
int leafCountInGroup = leafGroupIndex == target.LeafGroups.Count - 1 ? target.LastLeavesCount : Vector <int> .Count;
for (int leafIndexInGroup = 0; leafIndexInGroup < leafCountInGroup; ++leafIndexInGroup)
{
if (intersectionMask[leafIndexInGroup] < 0)
{
var leafIndex = target.LeafGroups[leafGroupIndex].Leaves[leafIndexInGroup];
if (leafIndex < nodeLeafIndex) //The other leaf will also find a collision!
{
results.Add(new Overlap {
A = leafIndex, B = nodeLeafIndex
});
}
}
}
}
}
}
}
target.LeafGroups.Count = 0; //Don't bother forcing a clear on these. TODO: buffer safety check disable
target.LeafGroups.Dispose();
}
targets.Dispose();
fallbackResults.Dispose();
//Console.WriteLine("Streaming Query based results:");
//for (int i = 0; i < results.Count; ++i)
//{
// Console.WriteLine($"{results[i].A}, {results[i].B}");
//}
}