bullet3

#include "b3GpuRaycast.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhaseInternalData.h"


#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3OpenCLArray.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3FillCL.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3RadixSort32CL.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuBroadphaseInterface.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.h"

#include "Bullet3OpenCL/Raycast/kernels/rayCastKernels.h"


#define B3_RAYCAST_PATH "src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl"



struct b3GpuRaycastInternalData
{
	cl_context m_context;
	cl_device_id m_device;
	cl_command_queue  m_q;
	cl_kernel m_raytraceKernel;
	cl_kernel m_raytracePairsKernel;
	cl_kernel m_findRayRigidPairIndexRanges;
	
	b3GpuParallelLinearBvh* m_plbvh;
	b3RadixSort32CL* m_radixSorter;
	b3FillCL* m_fill;
	
	//1 element per ray
	b3OpenCLArray<b3RayInfo>* m_gpuRays;
	b3OpenCLArray<b3RayHit>* m_gpuHitResults;
	b3OpenCLArray<int>* m_firstRayRigidPairIndexPerRay;
	b3OpenCLArray<int>* m_numRayRigidPairsPerRay;
	
	//1 element per (ray index, rigid index) pair, where the ray intersects with the rigid's AABB
	b3OpenCLArray<int>* m_gpuNumRayRigidPairs;
	b3OpenCLArray<b3Int2>* m_gpuRayRigidPairs;	//x == ray index, y == rigid index
	
	int m_test;
};

b3GpuRaycast::b3GpuRaycast(cl_context ctx,cl_device_id device, cl_command_queue  q)
{
	m_data = new b3GpuRaycastInternalData;
	m_data->m_context = ctx;
	m_data->m_device = device;
	m_data->m_q = q;
	m_data->m_raytraceKernel = 0;
	m_data->m_raytracePairsKernel = 0;
	m_data->m_findRayRigidPairIndexRanges = 0;

	m_data->m_plbvh = new b3GpuParallelLinearBvh(ctx, device, q);
	m_data->m_radixSorter = new b3RadixSort32CL(ctx, device, q);
	m_data->m_fill = new b3FillCL(ctx, device, q);
	
	m_data->m_gpuRays = new b3OpenCLArray<b3RayInfo>(ctx, q);
	m_data->m_gpuHitResults = new b3OpenCLArray<b3RayHit>(ctx, q);
	m_data->m_firstRayRigidPairIndexPerRay = new b3OpenCLArray<int>(ctx, q);
	m_data->m_numRayRigidPairsPerRay = new b3OpenCLArray<int>(ctx, q);
	m_data->m_gpuNumRayRigidPairs = new b3OpenCLArray<int>(ctx, q);
	m_data->m_gpuRayRigidPairs = new b3OpenCLArray<b3Int2>(ctx, q);

	{
		cl_int errNum=0;
		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_data->m_context,m_data->m_device,rayCastKernelCL,&errNum,"",B3_RAYCAST_PATH);
		b3Assert(errNum==CL_SUCCESS);
		m_data->m_raytraceKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "rayCastKernel",&errNum,prog);
		b3Assert(errNum==CL_SUCCESS);
		m_data->m_raytracePairsKernel = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "rayCastPairsKernel",&errNum,prog);
		b3Assert(errNum==CL_SUCCESS);
		m_data->m_findRayRigidPairIndexRanges = b3OpenCLUtils::compileCLKernelFromString(m_data->m_context, m_data->m_device,rayCastKernelCL, "findRayRigidPairIndexRanges",&errNum,prog);
		b3Assert(errNum==CL_SUCCESS);
		clReleaseProgram(prog);
	}


}

b3GpuRaycast::~b3GpuRaycast()
{
	clReleaseKernel(m_data->m_raytraceKernel);
	clReleaseKernel(m_data->m_raytracePairsKernel);
	clReleaseKernel(m_data->m_findRayRigidPairIndexRanges);
	
	delete m_data->m_plbvh;
	delete m_data->m_radixSorter;
	delete m_data->m_fill;
	
	delete m_data->m_gpuRays;
	delete m_data->m_gpuHitResults;
	delete m_data->m_firstRayRigidPairIndexPerRay;
	delete m_data->m_numRayRigidPairsPerRay;
	delete m_data->m_gpuNumRayRigidPairs;
	delete m_data->m_gpuRayRigidPairs;
	
	delete m_data;
}

bool sphere_intersect(const b3Vector3& spherePos,  b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo, float& hitFraction)
{
    b3Vector3 rs = rayFrom - spherePos;
	b3Vector3 rayDir = rayTo-rayFrom;
	
	float A = b3Dot(rayDir,rayDir);
    float B = b3Dot(rs, rayDir);
    float C = b3Dot(rs, rs) - (radius * radius);
    
	float D = B * B - A*C;

    if (D > 0.0)
    {
        float t = (-B - sqrt(D))/A;

        if ( (t >= 0.0f) && (t < hitFraction) )
        {
			hitFraction = t;
            return true;
		}
	}
	return false;
}

bool rayConvex(const b3Vector3& rayFromLocal, const b3Vector3& rayToLocal, const b3ConvexPolyhedronData& poly,
	const b3AlignedObjectArray<b3GpuFace>& faces,  float& hitFraction, b3Vector3& hitNormal)
{
	float exitFraction = hitFraction;
	float enterFraction = -0.1f;
	b3Vector3 curHitNormal=b3MakeVector3(0,0,0);
	for (int i=0;i<poly.m_numFaces;i++)
	{
		const b3GpuFace& face = faces[poly.m_faceOffset+i];
		float fromPlaneDist = b3Dot(rayFromLocal,face.m_plane)+face.m_plane.w;
		float toPlaneDist = b3Dot(rayToLocal,face.m_plane)+face.m_plane.w;
		if (fromPlaneDist<0.f)
		{
			if (toPlaneDist >= 0.f)
			{
				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
				if (exitFraction>fraction)
				{
					exitFraction = fraction;
				}
			} 			
		} else
		{
			if (toPlaneDist<0.f)
			{
				float fraction = fromPlaneDist / (fromPlaneDist-toPlaneDist);
				if (enterFraction <= fraction)
				{
					enterFraction = fraction;
					curHitNormal = face.m_plane;
					curHitNormal.w = 0.f;
				}
			} else
			{
				return false;
			}
		}
		if (exitFraction <= enterFraction)
			return false;
	}

	if (enterFraction < 0.f)
		return false;

	hitFraction = enterFraction;
	hitNormal = curHitNormal;
	return true;
}

void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults,
		int numBodies,const struct b3RigidBodyData* bodies, int numCollidables,const struct b3Collidable* collidables, const struct b3GpuNarrowPhaseInternalData* narrowphaseData)
{

//	return castRays(rays,hitResults,numBodies,bodies,numCollidables,collidables);

	B3_PROFILE("castRaysHost");
	for (int r=0;r<rays.size();r++)
	{
		b3Vector3 rayFrom = rays[r].m_from;
		b3Vector3 rayTo = rays[r].m_to;
		float hitFraction = hitResults[r].m_hitFraction;

		int hitBodyIndex= -1;
		b3Vector3 hitNormal;

		for (int b=0;b<numBodies;b++)
		{
				
			const b3Vector3& pos = bodies[b].m_pos;
			//const b3Quaternion& orn = bodies[b].m_quat;
			
			switch (collidables[bodies[b].m_collidableIdx].m_shapeType)
			{
			case SHAPE_SPHERE:
				{
					b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius;
					if (sphere_intersect(pos,  radius, rayFrom, rayTo,hitFraction))
					{
						hitBodyIndex = b;
						b3Vector3 hitPoint;
						hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
						hitNormal = (hitPoint-bodies[b].m_pos).normalize();
					}
				}
			case SHAPE_CONVEX_HULL:
				{

					b3Transform convexWorldTransform;
					convexWorldTransform.setIdentity();
					convexWorldTransform.setOrigin(bodies[b].m_pos);
					convexWorldTransform.setRotation(bodies[b].m_quat);
					b3Transform convexWorld2Local = convexWorldTransform.inverse();

					b3Vector3 rayFromLocal = convexWorld2Local(rayFrom);
					b3Vector3 rayToLocal = convexWorld2Local(rayTo);
					
					
					int shapeIndex = collidables[bodies[b].m_collidableIdx].m_shapeIndex;
					const b3ConvexPolyhedronData& poly = narrowphaseData->m_convexPolyhedra[shapeIndex];
					if (rayConvex(rayFromLocal, rayToLocal,poly,narrowphaseData->m_convexFaces, hitFraction, hitNormal))
					{
						hitBodyIndex = b;
					}

					
					break;
				}
			default:
				{
					static bool once=true;
					if (once)
					{
						once=false;
						b3Warning("Raytest: unsupported shape type\n");
					}
				}
			}
		}
		if (hitBodyIndex>=0)
		{

			hitResults[r].m_hitFraction = hitFraction;
			hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
			hitResults[r].m_hitNormal = hitNormal;
			hitResults[r].m_hitBody = hitBodyIndex;
		}

	}
}
///todo: add some acceleration structure (AABBs, tree etc)
void b3GpuRaycast::castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults,
		int numBodies,const struct b3RigidBodyData* bodies, int numCollidables, const struct b3Collidable* collidables, 
		const struct b3GpuNarrowPhaseInternalData* narrowphaseData,	class b3GpuBroadphaseInterface* broadphase)
{
	//castRaysHost(rays,hitResults,numBodies,bodies,numCollidables,collidables,narrowphaseData);

	B3_PROFILE("castRaysGPU");
	
	{
		B3_PROFILE("raycast copyFromHost");
		m_data->m_gpuRays->copyFromHost(rays);
		m_data->m_gpuHitResults->copyFromHost(hitResults);
		
	}
	
	int numRays = hitResults.size();
	{
		m_data->m_firstRayRigidPairIndexPerRay->resize(numRays);
		m_data->m_numRayRigidPairsPerRay->resize(numRays);
		
		m_data->m_gpuNumRayRigidPairs->resize(1);
		m_data->m_gpuRayRigidPairs->resize(numRays * 16);
	}
	
	//run kernel
	const bool USE_BRUTE_FORCE_RAYCAST = false;
	if(USE_BRUTE_FORCE_RAYCAST)
	{
		B3_PROFILE("raycast launch1D");

		b3LauncherCL launcher(m_data->m_q,m_data->m_raytraceKernel,"m_raytraceKernel");
		int numRays = rays.size();
		launcher.setConst(numRays);

		launcher.setBuffer(m_data->m_gpuRays->getBufferCL());
		launcher.setBuffer(m_data->m_gpuHitResults->getBufferCL());

		launcher.setConst(numBodies);
		launcher.setBuffer(narrowphaseData->m_bodyBufferGPU->getBufferCL());
		launcher.setBuffer(narrowphaseData->m_collidablesGPU->getBufferCL());
		launcher.setBuffer(narrowphaseData->m_convexFacesGPU->getBufferCL());
		launcher.setBuffer(narrowphaseData->m_convexPolyhedraGPU->getBufferCL());
		
		launcher.launch1D(numRays);
		clFinish(m_data->m_q);
	}
	else
	{
		m_data->m_plbvh->build( broadphase->getAllAabbsGPU(), broadphase->getSmallAabbIndicesGPU(), broadphase->getLargeAabbIndicesGPU() );

		m_data->m_plbvh->testRaysAgainstBvhAabbs(*m_data->m_gpuRays, *m_data->m_gpuNumRayRigidPairs, *m_data->m_gpuRayRigidPairs);
		
		int numRayRigidPairs = -1;
		m_data->m_gpuNumRayRigidPairs->copyToHostPointer(&numRayRigidPairs, 1);
		if( numRayRigidPairs > m_data->m_gpuRayRigidPairs->size() )
		{
			numRayRigidPairs = m_data->m_gpuRayRigidPairs->size();
			m_data->m_gpuNumRayRigidPairs->copyFromHostPointer(&numRayRigidPairs, 1);
		}
		
		m_data->m_gpuRayRigidPairs->resize(numRayRigidPairs);	//Radix sort needs b3OpenCLArray::size() to be correct
		
		//Sort ray-rigid pairs by ray index
		{
			B3_PROFILE("sort ray-rigid pairs");
			m_data->m_radixSorter->execute( *reinterpret_cast< b3OpenCLArray<b3SortData>* >(m_data->m_gpuRayRigidPairs) );
		}
		
		//detect start,count of each ray pair
		{
			B3_PROFILE("detect ray-rigid pair index ranges");
			
			{
				B3_PROFILE("reset ray-rigid pair index ranges");
				
				m_data->m_fill->execute(*m_data->m_firstRayRigidPairIndexPerRay, numRayRigidPairs, numRays);	//atomic_min used to find first index
				m_data->m_fill->execute(*m_data->m_numRayRigidPairsPerRay, 0, numRays);
				clFinish(m_data->m_q);
			}
			
			b3BufferInfoCL bufferInfo[] = 
			{
				b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() ),
				
				b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
				b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() )
			};
			
			b3LauncherCL launcher(m_data->m_q, m_data->m_findRayRigidPairIndexRanges, "m_findRayRigidPairIndexRanges");
			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
			launcher.setConst(numRayRigidPairs);
			
			launcher.launch1D(numRayRigidPairs);
			clFinish(m_data->m_q);
		}
		
		{
			B3_PROFILE("ray-rigid intersection");
			
			b3BufferInfoCL bufferInfo[] = 
			{
				b3BufferInfoCL( m_data->m_gpuRays->getBufferCL() ),
				b3BufferInfoCL( m_data->m_gpuHitResults->getBufferCL() ),
				b3BufferInfoCL( m_data->m_firstRayRigidPairIndexPerRay->getBufferCL() ),
				b3BufferInfoCL( m_data->m_numRayRigidPairsPerRay->getBufferCL() ),
				
				b3BufferInfoCL( narrowphaseData->m_bodyBufferGPU->getBufferCL() ),
				b3BufferInfoCL( narrowphaseData->m_collidablesGPU->getBufferCL() ),
				b3BufferInfoCL( narrowphaseData->m_convexFacesGPU->getBufferCL() ),
				b3BufferInfoCL( narrowphaseData->m_convexPolyhedraGPU->getBufferCL() ),
				
				b3BufferInfoCL( m_data->m_gpuRayRigidPairs->getBufferCL() )
			};
			
			b3LauncherCL launcher(m_data->m_q, m_data->m_raytracePairsKernel, "m_raytracePairsKernel");
			launcher.setBuffers( bufferInfo, sizeof(bufferInfo)/sizeof(b3BufferInfoCL) );
			launcher.setConst(numRays);
			
			launcher.launch1D(numRays);
			clFinish(m_data->m_q);
		}
	}
	
	

	//copy results
	{
		B3_PROFILE("raycast copyToHost");
		m_data->m_gpuHitResults->copyToHost(hitResults);
	}

}