File size: 3,973 Bytes
2fe3da0 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 |
/*
* Copyright (c) 2020-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
*
* NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
* property and proprietary rights in and to this material, related
* documentation and any modifications thereto. Any use, reproduction,
* disclosure or distribution of this material and related documentation
* without an express license agreement from NVIDIA CORPORATION or
* its affiliates is strictly prohibited.
*/
#include <cuda.h>
#include <stdio.h>
#include "common.h"
#include "mesh.h"
//------------------------------------------------------------------------
// Kernels
__global__ void xfmPointsFwdKernel(XfmKernelParams p)
{
unsigned int px = blockIdx.x * blockDim.x + threadIdx.x;
unsigned int pz = blockIdx.z * blockDim.z + threadIdx.z;
__shared__ float mtx[4][4];
if (threadIdx.x < 16)
mtx[threadIdx.x % 4][threadIdx.x / 4] = p.matrix.fetch(p.matrix.nhwcIndex(pz, threadIdx.x / 4, threadIdx.x % 4, 0));
__syncthreads();
if (px >= p.gridSize.x)
return;
vec3f pos(
p.points.fetch(p.points.nhwcIndex(pz, px, 0, 0)),
p.points.fetch(p.points.nhwcIndex(pz, px, 1, 0)),
p.points.fetch(p.points.nhwcIndex(pz, px, 2, 0))
);
if (p.isPoints)
{
p.out.store(p.out.nhwcIndex(pz, px, 0, 0), pos.x * mtx[0][0] + pos.y * mtx[1][0] + pos.z * mtx[2][0] + mtx[3][0]);
p.out.store(p.out.nhwcIndex(pz, px, 1, 0), pos.x * mtx[0][1] + pos.y * mtx[1][1] + pos.z * mtx[2][1] + mtx[3][1]);
p.out.store(p.out.nhwcIndex(pz, px, 2, 0), pos.x * mtx[0][2] + pos.y * mtx[1][2] + pos.z * mtx[2][2] + mtx[3][2]);
p.out.store(p.out.nhwcIndex(pz, px, 3, 0), pos.x * mtx[0][3] + pos.y * mtx[1][3] + pos.z * mtx[2][3] + mtx[3][3]);
}
else
{
p.out.store(p.out.nhwcIndex(pz, px, 0, 0), pos.x * mtx[0][0] + pos.y * mtx[1][0] + pos.z * mtx[2][0]);
p.out.store(p.out.nhwcIndex(pz, px, 1, 0), pos.x * mtx[0][1] + pos.y * mtx[1][1] + pos.z * mtx[2][1]);
p.out.store(p.out.nhwcIndex(pz, px, 2, 0), pos.x * mtx[0][2] + pos.y * mtx[1][2] + pos.z * mtx[2][2]);
}
}
__global__ void xfmPointsBwdKernel(XfmKernelParams p)
{
unsigned int px = blockIdx.x * blockDim.x + threadIdx.x;
unsigned int pz = blockIdx.z * blockDim.z + threadIdx.z;
__shared__ float mtx[4][4];
if (threadIdx.x < 16)
mtx[threadIdx.x % 4][threadIdx.x / 4] = p.matrix.fetch(p.matrix.nhwcIndex(pz, threadIdx.x / 4, threadIdx.x % 4, 0));
__syncthreads();
if (px >= p.gridSize.x)
return;
vec3f pos(
p.points.fetch(p.points.nhwcIndex(pz, px, 0, 0)),
p.points.fetch(p.points.nhwcIndex(pz, px, 1, 0)),
p.points.fetch(p.points.nhwcIndex(pz, px, 2, 0))
);
vec4f d_out(
p.out.fetch(p.out.nhwcIndex(pz, px, 0, 0)),
p.out.fetch(p.out.nhwcIndex(pz, px, 1, 0)),
p.out.fetch(p.out.nhwcIndex(pz, px, 2, 0)),
p.out.fetch(p.out.nhwcIndex(pz, px, 3, 0))
);
if (p.isPoints)
{
p.points.store_grad(p.points.nhwcIndexContinuous(pz, px, 0, 0), d_out.x * mtx[0][0] + d_out.y * mtx[0][1] + d_out.z * mtx[0][2] + d_out.w * mtx[0][3]);
p.points.store_grad(p.points.nhwcIndexContinuous(pz, px, 1, 0), d_out.x * mtx[1][0] + d_out.y * mtx[1][1] + d_out.z * mtx[1][2] + d_out.w * mtx[1][3]);
p.points.store_grad(p.points.nhwcIndexContinuous(pz, px, 2, 0), d_out.x * mtx[2][0] + d_out.y * mtx[2][1] + d_out.z * mtx[2][2] + d_out.w * mtx[2][3]);
}
else
{
p.points.store_grad(p.points.nhwcIndexContinuous(pz, px, 0, 0), d_out.x * mtx[0][0] + d_out.y * mtx[0][1] + d_out.z * mtx[0][2]);
p.points.store_grad(p.points.nhwcIndexContinuous(pz, px, 1, 0), d_out.x * mtx[1][0] + d_out.y * mtx[1][1] + d_out.z * mtx[1][2]);
p.points.store_grad(p.points.nhwcIndexContinuous(pz, px, 2, 0), d_out.x * mtx[2][0] + d_out.y * mtx[2][1] + d_out.z * mtx[2][2]);
}
} |