TriangleCodecIndexed8BitPackSOA4Flags.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Geometry/RayTriangle.h>
 
JPH_NAMESPACE_BEGIN
 
class TriangleCodecIndexed8BitPackSOA4Flags
{
public:
    class TriangleHeader
    {
    public:
        Float3                      mOffset;            
        Float3                      mScale;             
    };
 
    static constexpr int            TriangleHeaderSize = sizeof(TriangleHeader);
 
    static constexpr bool           ChangesOffsetOnPack = false;
 
    enum EComponentData : uint32
    {
        COMPONENT_BITS = 21,
        COMPONENT_MASK = (1 << COMPONENT_BITS) - 1,
    };
 
    enum EVertexXY : uint32
    {
        COMPONENT_X = 0,
        COMPONENT_Y1 = COMPONENT_BITS,
        COMPONENT_Y1_BITS = 32 - COMPONENT_BITS,
    };
 
    enum EVertexZY : uint32
    {
        COMPONENT_Z = 0,
        COMPONENT_Y2 = COMPONENT_BITS,
        COMPONENT_Y2_BITS = 31 - COMPONENT_BITS,
    };
 
    struct VertexData
    {
        uint32                      mVertexXY;
        uint32                      mVertexZY;
    };
 
    static_assert(sizeof(VertexData) == 8, "Compiler added padding");
 
    struct TriangleBlock
    {
        uint8                       mIndices[3][4];             
        uint8                       mFlags[4];                  
    };
 
    static_assert(sizeof(TriangleBlock) == 16, "Compiler added padding");
 
    enum ETriangleBlockHeaderFlags : uint32
    {
        OFFSET_TO_VERTICES_BITS = 29,                           
        OFFSET_TO_VERTICES_MASK = (1 << OFFSET_TO_VERTICES_BITS) - 1,
        OFFSET_TO_USERDATA_BITS = 3,                            
        OFFSET_TO_USERDATA_MASK = (1 << OFFSET_TO_USERDATA_BITS) - 1,
    };
 
    struct TriangleBlockHeader
    {
        const VertexData *          GetVertexData() const       { return reinterpret_cast<const VertexData *>(reinterpret_cast<const uint8 *>(this) + (mFlags & OFFSET_TO_VERTICES_MASK)); }
        const TriangleBlock *       GetTriangleBlock() const    { return reinterpret_cast<const TriangleBlock *>(reinterpret_cast<const uint8 *>(this) + sizeof(TriangleBlockHeader)); }
        const uint32 *              GetUserData() const         { uint32 offset = mFlags >> OFFSET_TO_VERTICES_BITS; return offset == 0? nullptr : reinterpret_cast<const uint32 *>(GetTriangleBlock() + offset); }
 
        uint32                      mFlags;
    };
 
    static_assert(sizeof(TriangleBlockHeader) == 4, "Compiler added padding");
 
    class ValidationContext
    {
    public:
                                    ValidationContext(const IndexedTriangleList &inTriangles, const VertexList &inVertices) :
            mVertices(inVertices)
        {
            // Only used the referenced triangles, just like EncodingContext::Finalize does
            for (const IndexedTriangle &i : inTriangles)
                for (uint32 idx : i.mIdx)
                    mBounds.Encapsulate(Vec3(inVertices[idx]));
        }
 
        bool                        IsDegenerate(const IndexedTriangle &inTriangle) const
        {
            // Quantize the triangle in the same way as EncodingContext::Finalize does
            UVec4 quantized_vertex[3];
            Vec3 compress_scale = Vec3::sReplicate(COMPONENT_MASK) / Vec3::sMax(mBounds.GetSize(), Vec3::sReplicate(1.0e-20f));
            for (int i = 0; i < 3; ++i)
                quantized_vertex[i] = ((Vec3(mVertices[inTriangle.mIdx[i]]) - mBounds.mMin) * compress_scale + Vec3::sReplicate(0.5f)).ToInt();
            return quantized_vertex[0] == quantized_vertex[1] || quantized_vertex[1] == quantized_vertex[2] || quantized_vertex[0] == quantized_vertex[2];
        }
 
    private:
        const VertexList &          mVertices;
        AABox                       mBounds;
    };
 
    class EncodingContext
    {
    public:
        explicit                    EncodingContext(const VertexList &inVertices) :
            mVertexMap(inVertices.size(), 0xffffffff) // Fill vertex map with 'not found'
        {
            // Reserve for worst case to avoid allocating in the inner loop
            mVertices.reserve(inVertices.size());
        }
 
        uint                        GetPessimisticMemoryEstimate(uint inTriangleCount, bool inStoreUserData) const
        {
            // Worst case each triangle is alone in a block, none of the vertices are shared and we need to add 3 bytes to align the vertices
            return inTriangleCount * (sizeof(TriangleBlockHeader) + sizeof(TriangleBlock) + (inStoreUserData? sizeof(uint32) : 0) + 3 * sizeof(VertexData)) + 3;
        }
 
        uint                        Pack(const IndexedTriangle *inTriangles, uint inNumTriangles, bool inStoreUserData, ByteBuffer &ioBuffer, const char *&outError)
        {
            JPH_ASSERT(inNumTriangles > 0);
 
            // Determine position of triangles start
            uint offset = (uint)ioBuffer.size();
 
            // Update stats
            mNumTriangles += inNumTriangles;
 
            // Allocate triangle block header
            TriangleBlockHeader *header = ioBuffer.Allocate<TriangleBlockHeader>();
 
            // Compute first vertex that this batch will use (ensuring there's enough room if none of the vertices are shared)
            uint start_vertex = Clamp((int)mVertices.size() - 256 + (int)inNumTriangles * 3, 0, (int)mVertices.size());
 
            // Store the start vertex offset, this will later be patched to give the delta offset relative to the triangle block
            mOffsetsToPatch.push_back(uint((uint8 *)&header->mFlags - &ioBuffer[0]));
            header->mFlags = start_vertex * sizeof(VertexData);
            JPH_ASSERT(header->mFlags <= OFFSET_TO_VERTICES_MASK, "Offset to vertices doesn't fit");
 
            // When we store user data we need to store the offset to the user data in TriangleBlocks
            uint padded_triangle_count = AlignUp(inNumTriangles, 4);
            if (inStoreUserData)
            {
                uint32 num_blocks = padded_triangle_count >> 2;
                JPH_ASSERT(num_blocks <= OFFSET_TO_USERDATA_MASK);
                header->mFlags |= num_blocks << OFFSET_TO_VERTICES_BITS;
            }
 
            // Pack vertices
            for (uint t = 0; t < padded_triangle_count; t += 4)
            {
                TriangleBlock *block = ioBuffer.Allocate<TriangleBlock>();
                for (uint vertex_nr = 0; vertex_nr < 3; ++vertex_nr)
                    for (uint block_tri_idx = 0; block_tri_idx < 4; ++block_tri_idx)
                    {
                        // Fetch vertex index. Create degenerate triangles for padding triangles.
                        bool triangle_available = t + block_tri_idx < inNumTriangles;
                        uint32 src_vertex_index = triangle_available? inTriangles[t + block_tri_idx].mIdx[vertex_nr] : inTriangles[inNumTriangles - 1].mIdx[0];
 
                        // Check if we've seen this vertex before and if it is in the range that we can encode
                        uint32 &vertex_index = mVertexMap[src_vertex_index];
                        if (vertex_index == 0xffffffff || vertex_index < start_vertex)
                        {
                            // Add vertex
                            vertex_index = (uint32)mVertices.size();
                            mVertices.push_back(src_vertex_index);
                        }
 
                        // Store vertex index
                        uint32 vertex_offset = vertex_index - start_vertex;
                        if (vertex_offset > 0xff)
                        {
                            outError = "TriangleCodecIndexed8BitPackSOA4Flags: Offset doesn't fit in 8 bit";
                            return uint(-1);
                        }
                        block->mIndices[vertex_nr][block_tri_idx] = (uint8)vertex_offset;
 
                        // Store flags
                        uint32 flags = triangle_available? inTriangles[t + block_tri_idx].mMaterialIndex : 0;
                        if (flags > 0xff)
                        {
                            outError = "TriangleCodecIndexed8BitPackSOA4Flags: Material index doesn't fit in 8 bit";
                            return uint(-1);
                        }
                        block->mFlags[block_tri_idx] = (uint8)flags;
                    }
            }
 
            // Store user data
            if (inStoreUserData)
            {
                uint32 *user_data = ioBuffer.Allocate<uint32>(inNumTriangles);
                for (uint t = 0; t < inNumTriangles; ++t)
                    user_data[t] = inTriangles[t].mUserData;
            }
 
            return offset;
        }
 
        void                        Finalize(const VertexList &inVertices, TriangleHeader *ioHeader, ByteBuffer &ioBuffer) const
        {
            // Check if anything to do
            if (mVertices.empty())
                return;
 
            // Align buffer to 4 bytes
            uint vertices_idx = (uint)ioBuffer.Align(4);
 
            // Patch the offsets
            for (uint o : mOffsetsToPatch)
            {
                uint32 *flags = ioBuffer.Get<uint32>(o);
                uint32 delta = vertices_idx - o;
                if ((*flags & OFFSET_TO_VERTICES_MASK) + delta > OFFSET_TO_VERTICES_MASK)
                    JPH_ASSERT(false, "Offset to vertices doesn't fit");
                *flags += delta;
            }
 
            // Calculate bounding box
            AABox bounds;
            for (uint32 v : mVertices)
                bounds.Encapsulate(Vec3(inVertices[v]));
 
            // Compress vertices
            VertexData *vertices = ioBuffer.Allocate<VertexData>(mVertices.size());
            Vec3 compress_scale = Vec3::sReplicate(COMPONENT_MASK) / Vec3::sMax(bounds.GetSize(), Vec3::sReplicate(1.0e-20f));
            for (uint32 v : mVertices)
            {
                UVec4 c = ((Vec3(inVertices[v]) - bounds.mMin) * compress_scale + Vec3::sReplicate(0.5f)).ToInt();
                JPH_ASSERT(c.GetX() <= COMPONENT_MASK);
                JPH_ASSERT(c.GetY() <= COMPONENT_MASK);
                JPH_ASSERT(c.GetZ() <= COMPONENT_MASK);
                vertices->mVertexXY = c.GetX() + (c.GetY() << COMPONENT_Y1);
                vertices->mVertexZY = c.GetZ() + ((c.GetY() >> COMPONENT_Y1_BITS) << COMPONENT_Y2);
                ++vertices;
            }
 
            // Store decompression information
            bounds.mMin.StoreFloat3(&ioHeader->mOffset);
            (bounds.GetSize() / Vec3::sReplicate(COMPONENT_MASK)).StoreFloat3(&ioHeader->mScale);
        }
 
    private:
        using VertexMap = Array<uint32>;
 
        uint                        mNumTriangles = 0;
        Array<uint32>               mVertices;              
        VertexMap                   mVertexMap;             
        Array<uint>                 mOffsetsToPatch;        
    };
 
    class DecodingContext
    {
    private:
        JPH_INLINE void             Unpack(const VertexData *inVertices, UVec4Arg inIndex, Vec4 &outX, Vec4 &outY, Vec4 &outZ) const
        {
            // Get compressed data
            UVec4 c1 = UVec4::sGatherInt4<8>(&inVertices->mVertexXY, inIndex);
            UVec4 c2 = UVec4::sGatherInt4<8>(&inVertices->mVertexZY, inIndex);
 
            // Unpack the x y and z component
            UVec4 xc = UVec4::sAnd(c1, UVec4::sReplicate(COMPONENT_MASK));
            UVec4 yc = UVec4::sOr(c1.LogicalShiftRight<COMPONENT_Y1>(), c2.LogicalShiftRight<COMPONENT_Y2>().LogicalShiftLeft<COMPONENT_Y1_BITS>());
            UVec4 zc = UVec4::sAnd(c2, UVec4::sReplicate(COMPONENT_MASK));
 
            // Convert to float
            outX = Vec4::sFusedMultiplyAdd(xc.ToFloat(), mScaleX, mOffsetX);
            outY = Vec4::sFusedMultiplyAdd(yc.ToFloat(), mScaleY, mOffsetY);
            outZ = Vec4::sFusedMultiplyAdd(zc.ToFloat(), mScaleZ, mOffsetZ);
        }
 
    public:
        JPH_INLINE explicit         DecodingContext(const TriangleHeader *inHeader) :
            mOffsetX(Vec4::sReplicate(inHeader->mOffset.x)),
            mOffsetY(Vec4::sReplicate(inHeader->mOffset.y)),
            mOffsetZ(Vec4::sReplicate(inHeader->mOffset.z)),
            mScaleX(Vec4::sReplicate(inHeader->mScale.x)),
            mScaleY(Vec4::sReplicate(inHeader->mScale.y)),
            mScaleZ(Vec4::sReplicate(inHeader->mScale.z))
        {
        }
 
        JPH_INLINE void             Unpack(const void *inTriangleStart, uint32 inNumTriangles, Vec3 *outTriangles) const
        {
            JPH_ASSERT(inNumTriangles > 0);
            const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
            const VertexData *vertices = header->GetVertexData();
            const TriangleBlock *t = header->GetTriangleBlock();
            const TriangleBlock *end = t + ((inNumTriangles + 3) >> 2);
 
            int triangles_left = inNumTriangles;
 
            do
            {
                // Get the indices for the three vertices (reads 4 bytes extra, but these are the flags so that's ok)
                UVec4 indices = UVec4::sLoadInt4(reinterpret_cast<const uint32 *>(&t->mIndices[0]));
                UVec4 iv1 = indices.Expand4Byte0();
                UVec4 iv2 = indices.Expand4Byte4();
                UVec4 iv3 = indices.Expand4Byte8();
 
                // Decompress the triangle data
                Vec4 v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z;
                Unpack(vertices, iv1, v1x, v1y, v1z);
                Unpack(vertices, iv2, v2x, v2y, v2z);
                Unpack(vertices, iv3, v3x, v3y, v3z);
 
                // Transpose it so we get normal vectors
                Mat44 v1 = Mat44(v1x, v1y, v1z, Vec4::sZero()).Transposed();
                Mat44 v2 = Mat44(v2x, v2y, v2z, Vec4::sZero()).Transposed();
                Mat44 v3 = Mat44(v3x, v3y, v3z, Vec4::sZero()).Transposed();
 
                // Store triangle data
                for (int i = 0; i < 4 && triangles_left > 0; ++i, --triangles_left)
                {
                    *outTriangles++ = v1.GetColumn3(i);
                    *outTriangles++ = v2.GetColumn3(i);
                    *outTriangles++ = v3.GetColumn3(i);
                }
 
                ++t;
            }
            while (t < end);
        }
 
        JPH_INLINE float            TestRay(Vec3Arg inRayOrigin, Vec3Arg inRayDirection, const void *inTriangleStart, uint32 inNumTriangles, float inClosest, uint32 &outClosestTriangleIndex) const
        {
            JPH_ASSERT(inNumTriangles > 0);
            const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
            const VertexData *vertices = header->GetVertexData();
            const TriangleBlock *t = header->GetTriangleBlock();
            const TriangleBlock *end = t + ((inNumTriangles + 3) >> 2);
 
            Vec4 closest = Vec4::sReplicate(inClosest);
            UVec4 closest_triangle_idx = UVec4::sZero();
 
            UVec4 start_triangle_idx = UVec4::sZero();
            do
            {
                // Get the indices for the three vertices (reads 4 bytes extra, but these are the flags so that's ok)
                UVec4 indices = UVec4::sLoadInt4(reinterpret_cast<const uint32 *>(&t->mIndices[0]));
                UVec4 iv1 = indices.Expand4Byte0();
                UVec4 iv2 = indices.Expand4Byte4();
                UVec4 iv3 = indices.Expand4Byte8();
 
                // Decompress the triangle data
                Vec4 v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z;
                Unpack(vertices, iv1, v1x, v1y, v1z);
                Unpack(vertices, iv2, v2x, v2y, v2z);
                Unpack(vertices, iv3, v3x, v3y, v3z);
 
                // Perform ray vs triangle test
                Vec4 distance = RayTriangle4(inRayOrigin, inRayDirection, v1x, v1y, v1z, v2x, v2y, v2z, v3x, v3y, v3z);
 
                // Update closest with the smaller values
                UVec4 smaller = Vec4::sLess(distance, closest);
                closest = Vec4::sSelect(closest, distance, smaller);
 
                // Update triangle index with the smallest values
                UVec4 triangle_idx = start_triangle_idx + UVec4(0, 1, 2, 3);
                closest_triangle_idx = UVec4::sSelect(closest_triangle_idx, triangle_idx, smaller);
 
                // Next block
                ++t;
                start_triangle_idx += UVec4::sReplicate(4);
            }
            while (t < end);
 
            // Get the smallest component
            Vec4::sSort4(closest, closest_triangle_idx);
            outClosestTriangleIndex = closest_triangle_idx.GetX();
            return closest.GetX();
        }
 
        inline void                 GetTriangle(const void *inTriangleStart, uint32 inTriangleIdx, Vec3 &outV1, Vec3 &outV2, Vec3 &outV3) const
        {
            const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
            const VertexData *vertices = header->GetVertexData();
            const TriangleBlock *block = header->GetTriangleBlock() + (inTriangleIdx >> 2);
            uint32 block_triangle_idx = inTriangleIdx & 0b11;
 
            // Get the 3 vertices
            const VertexData &v1 = vertices[block->mIndices[0][block_triangle_idx]];
            const VertexData &v2 = vertices[block->mIndices[1][block_triangle_idx]];
            const VertexData &v3 = vertices[block->mIndices[2][block_triangle_idx]];
 
            // Pack the vertices
            UVec4 c1(v1.mVertexXY, v2.mVertexXY, v3.mVertexXY, 0);
            UVec4 c2(v1.mVertexZY, v2.mVertexZY, v3.mVertexZY, 0);
 
            // Unpack the x y and z component
            UVec4 xc = UVec4::sAnd(c1, UVec4::sReplicate(COMPONENT_MASK));
            UVec4 yc = UVec4::sOr(c1.LogicalShiftRight<COMPONENT_Y1>(), c2.LogicalShiftRight<COMPONENT_Y2>().LogicalShiftLeft<COMPONENT_Y1_BITS>());
            UVec4 zc = UVec4::sAnd(c2, UVec4::sReplicate(COMPONENT_MASK));
 
            // Convert to float
            Vec4 vx = Vec4::sFusedMultiplyAdd(xc.ToFloat(), mScaleX, mOffsetX);
            Vec4 vy = Vec4::sFusedMultiplyAdd(yc.ToFloat(), mScaleY, mOffsetY);
            Vec4 vz = Vec4::sFusedMultiplyAdd(zc.ToFloat(), mScaleZ, mOffsetZ);
 
            // Transpose it so we get normal vectors
            Mat44 trans = Mat44(vx, vy, vz, Vec4::sZero()).Transposed();
            outV1 = trans.GetAxisX();
            outV2 = trans.GetAxisY();
            outV3 = trans.GetAxisZ();
        }
 
        JPH_INLINE uint32           GetUserData(const void *inTriangleStart, uint32 inTriangleIdx) const
        {
            const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
            const uint32 *user_data = header->GetUserData();
            return user_data != nullptr? user_data[inTriangleIdx] : 0;
        }
 
        JPH_INLINE static void      sGetFlags(const void *inTriangleStart, uint32 inNumTriangles, uint8 *outTriangleFlags)
        {
            JPH_ASSERT(inNumTriangles > 0);
            const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
            const TriangleBlock *t = header->GetTriangleBlock();
            const TriangleBlock *end = t + ((inNumTriangles + 3) >> 2);
 
            int triangles_left = inNumTriangles;
            do
            {
                for (int i = 0; i < 4 && triangles_left > 0; ++i, --triangles_left)
                    *outTriangleFlags++ = t->mFlags[i];
 
                ++t;
            }
            while (t < end);
        }
 
        JPH_INLINE static uint8     sGetFlags(const void *inTriangleStart, int inTriangleIndex)
        {
            const TriangleBlockHeader *header = reinterpret_cast<const TriangleBlockHeader *>(inTriangleStart);
            const TriangleBlock *first_block = header->GetTriangleBlock();
            return first_block[inTriangleIndex >> 2].mFlags[inTriangleIndex & 0b11];
        }
 
        JPH_INLINE void             Unpack(const void *inTriangleStart, uint32 inNumTriangles, Vec3 *outTriangles, uint8 *outTriangleFlags) const
        {
            Unpack(inTriangleStart, inNumTriangles, outTriangles);
            sGetFlags(inTriangleStart, inNumTriangles, outTriangleFlags);
        }
 
    private:
        Vec4                        mOffsetX;
        Vec4                        mOffsetY;
        Vec4                        mOffsetZ;
        Vec4                        mScaleX;
        Vec4                        mScaleY;
        Vec4                        mScaleZ;
    };
};
 
JPH_NAMESPACE_END