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| /* | |
| * 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]); | |
| } | |
| } |