[bvh] bump to latest master and convert to full builtin, isolated from ROOT

.github/workflows/root-ci-config/buildconfig/global.txt

@@ -3,6 +3,7 @@ arrow=OFF
 asan=OFF
 asimage=ON
 asserts=OFF
+builtin_bvh=ON
 builtin_cdt=ON
 builtin_cfitsio=OFF
 builtin_civetweb=OFF

builtins/bvh/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.21)
+project(bvh VERSION 2.0)
+
+option(BVH_BUILD_C_API "Builds the C API library wrapper" OFF)
+option(BVH_C_API_STATIC_LINK_STDLIB "Link the C API library statically against the standard C++ library (only supported by clang/gcc)" OFF)
+option(BVH_C_API_UNSAFE_CASTS "Enable unsafe casts in C API" OFF)
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+
+add_subdirectory(src/bvh/v2)
+
+if (PROJECT_IS_TOP_LEVEL)
+    include(CTest)
+    if (BUILD_TESTING)
+        add_subdirectory(test)
+    endif()
+
+    include(cmake/Install.cmake)
+endif()

builtins/bvh/README.md

@@ -0,0 +1,83 @@
+# BVH Construction and Traversal Library
+
+![Build Status](https://github.com/madmann91/bvh/workflows/build-and-test/badge.svg)
+
+> Note: This is the 2nd version of this library. Check the `v1` branch for the older, first version
+> of this library.
+
+This library is a small, standalone library for BVH construction and traversal. It is licensed
+under the MIT license.
+
+![Example rendering generated by a path tracer using this library](render.jpg)
+(Scene by Blend Swap user MaTTeSr, available [here](https://www.blendswap.com/blend/18762),
+distributed under CC-BY 3.0)
+
+## Performance
+
+Here is a comparison of this library with other alternatives
+([Embree](https://github.com/embree/embree),
+[Fast-BVH](https://github.com/brandonpelfrey/Fast-BVH), and
+[nanort](https://github.com/lighttransport/nanort)):
+
+![Performance comparison with Embree, nanort, and Fast-BVH](chart.png)
+
+## Features
+
+Here is a list of features supported by this library (changes from `v1` are indicated with [NEW]):
+
+- [NEW] C++20 interface using `std::span` instead of raw pointers,
+- Low-level API with direct access to various builders,
+- [NEW] High-level `DefaultBuilder` API which selects the best builder depending on the desired
+  BVH quality level.
+- High-quality, single-threaded sweeping SAH builder,
+- Fast, medium-quality, single-threaded binned SAH builder inspired by
+  "On Fast Construction of SAH-based Bounding Volume Hierarchies", by I. Wald,
+- Fast, high-quality, multithreaded mini-tree BVH builder inspired by
+  "Rapid Bounding Volume Hierarchy Generation using Mini Trees", by P. Ganestam et al.,
+- Reinsertion optimizer based on "Parallel Reinsertion for Bounding Volume Hierarchy
+  Optimization", by D. Meister and J. Bittner,
+- Fast and robust traversal algorithm using "Robust BVH Ray Traversal", by T. Ize.
+- Fast ray-triangle intersection algorithm based on
+  "Fast, Minimum Storage Ray/Triangle Intersection", by T. Möller and B. Trumbore,
+- [NEW] Surface area traversal order heuristic for shadow rays based on
+  "SATO: Surface Area Traversal Order for Shadow Ray Tracing", by J. Nah and D. Manocha,
+- Fast ray-sphere intersection routine,
+- [NEW] Serialization/deserialization interface,
+- [NEW] Variable amount of dimensions (e.g. 2D, 3D, 4D BVHs are supported) and different scalar types
+  (e.g. `float` or `double`),
+- [NEW] Only depends on the standard library (parallelization uses a custom thread pool based on
+  `std::thread`),
+- [NEW] C API for the high-level parts of the library is available.
+
+## Building
+
+This library is header-only, and can be added as a CMake subproject by cloning or adding as this
+repository as submodule, for instance in `<your-project>/contrib/bvh`, and then adding this to
+`<your-project>/CMakeLists.txt`:
+
+    add_subdirectory(contrib/bvh)
+    target_link_library(my_project PUBLIC bvh)
+
+If you want to build the examples, use:
+
+    mkdir build
+    cd build
+    cmake .. -DCMAKE_BUILD_TYPE=<Debug|Release> -DENABLE_TESTING=ON
+    cmake --build .
+
+## C API
+
+The library can be used via a small set of high-level C bindings. These bindings are not enabled by
+default, but can be built by configuring CMake with `-DBVH_BUILD_C_API=ON`. Additionally, if the
+intent is to use the library in a pure C environment which does not have the C++ standard library as
+a dependency, it might be a good idea to statically the C++ standard library. That can be done by
+adding the flag `-DBVH_STATIC_LINK_STDLIB_C_API=ON` to the CMake command line.
+
+## Usage
+
+The library contains several examples that are kept up-to-date with the API:
+
+- A [basic example](test/simple_example.cpp) that traces one ray on a scene made of a couple of triangles,
+- A [benchmarking utility](test/benchmark.cpp) that showcases what the library can do.
+- A [serialization test](test/serialize.cpp) that shows how to save and load a BVH from a file.
+- A [C API example](test/c_api_example.c) that shows how to use the C bindings to this library.

builtins/bvh/cmake/Install.cmake

@@ -0,0 +1,44 @@
+include(GNUInstallDirs)
+set(bvh_targets bvh)
+if (BVH_BUILD_C_API)
+    list(APPEND bvh_targets bvh_c)
+endif()
+
+install(
+    DIRECTORY ${PROJECT_SOURCE_DIR}/src/bvh
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN "c_api" EXCLUDE)
+install(
+    FILES ${PROJECT_SOURCE_DIR}/src/bvh/v2/c_api/bvh.h
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/bvh/v2/c_api/)
+install(
+    TARGETS ${bvh_targets}
+    EXPORT bvh_exports
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(
+    EXPORT bvh_exports
+    FILE bvh-targets.cmake
+    NAMESPACE bvh::v2::
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/bvh/v2/)
+
+include(CMakePackageConfigHelpers)
+set(CMAKE_INSTALL_CMAKEDIR ${CMAKE_INSTALL_LIBDIR}/cmake/bvh/v2/)
+
+configure_package_config_file(
+    "${PROJECT_SOURCE_DIR}/cmake/bvh-config.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/bvh-config.cmake"
+    INSTALL_DESTINATION ${CMAKE_INSTALL_CMAKEDIR})
+
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/bvh-config-version.cmake"
+    COMPATIBILITY AnyNewerVersion)
+
+install(
+    FILES
+        "${CMAKE_CURRENT_BINARY_DIR}/bvh-config.cmake"
+        "${CMAKE_CURRENT_BINARY_DIR}/bvh-config-version.cmake"
+        DESTINATION ${CMAKE_INSTALL_CMAKEDIR})

builtins/bvh/cmake/bvh-config.cmake.in

@@ -0,0 +1,5 @@
+@PACKAGE_INIT@
+
+include("${CMAKE_CURRENT_LIST_DIR}/bvh-targets.cmake")
+
+check_required_components(bvh_c)

builtins/bvh/v2/CMakeLists.txt → builtins/bvh/src/bvh/v2/CMakeLists.txt

@@ -12,11 +12,12 @@ target_include_directories(bvh INTERFACE
 
 set_target_properties(bvh PROPERTIES CXX_STANDARD 20)
 
-install(
-    DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/
-    DESTINATION include/bvh/v2
-    FILES_MATCHING PATTERN "*.h"
-    PATTERN "c_api" EXCLUDE)
+if (CMAKE_CXX_STANDARD LESS 20)
+  # backup implementation of span
+  target_include_directories(bvh INTERFACE ${CMAKE_SOURCE_DIR}/core/foundation/inc) # for ROOT/span.hxx
+endif()
+
+add_library(bvh::bvh ALIAS bvh)
 
 if (BVH_BUILD_C_API)
     add_subdirectory(c_api)

builtins/bvh/v2/README.md → builtins/bvh/src/bvh/v2/README.md

@@ -10,4 +10,6 @@ Minor changes have been subsequently been applied to achieve compilation with C+
 - old-style struct construction for objects of type "Reinsertion"
 - use of std::inner_product instead of std::transform_reduce (gcc 8.5 had problems)
 
-This is needed since ROOT should compile with C++17.
+This is needed since ROOT should compile with C++17. TODO: remove these patches
+when minimum required is C++20 and move builtin source to LCG. Or move to LCG link
+and use PATCH_COMMAND in ExternalProject_Add to apply these C++17 fallback patches.

builtins/bvh/v2/binned_sah_builder.h → builtins/bvh/src/bvh/v2/binned_sah_builder.h

@@ -29,7 +29,7 @@ class BinnedSahBuilder : public TopDownSahBuilder<Node> {
 public:
     using typename TopDownSahBuilder<Node>::Config;
 
-    BVH_ALWAYS_INLINE static Bvh<Node> build(
+    [[nodiscard]] BVH_ALWAYS_INLINE static Bvh<Node> build(
         std::span<const BBox> bboxes,
         std::span<const Vec> centers,
         const Config& config = {})

builtins/bvh/v2/bvh.h → builtins/bvh/src/bvh/v2/bvh.h

@@ -27,14 +27,17 @@
 
     Bvh& operator = (Bvh&&) = default;
 
-    //bool operator == (const Bvh& other) const = default;
-    //bool operator != (const Bvh& other) const = default;
+#if defined(__cplusplus) && __cplusplus >= 202002L
+    bool operator == (const Bvh& other) const = default;
+    bool operator != (const Bvh& other) const = default;
+#else
     bool operator == (const Bvh& other) const {
         return other.nodes == nodes && other.prim_ids == prim_ids;
     }
     bool operator != (const Bvh& other) const {
         return other.nodes != nodes || other.prim_ids != prim_ids;
     }
+#endif
 
     /// Returns whether the node located at the given index is the left child of its parent.
     static BVH_ALWAYS_INLINE bool is_left_sibling(size_t node_id) { return node_id % 2 == 1; }
@@ -60,11 +63,11 @@
     BVH_ALWAYS_INLINE const Node& get_root() const { return nodes[0]; }
 
     /// Extracts the BVH rooted at the given node index.
-    inline Bvh extract_bvh(size_t root_id) const;
+    [[nodiscard]] inline Bvh extract_bvh(size_t root_id) const;
 
     /// Traverses the BVH from the given index in `start` using the provided stack. Every leaf
     /// encountered on the way is processed using the given `LeafFn` function, and every pair of
-    /// nodes is processed with the function in `HitFn`, which returns a triplet of booleans
+    /// nodes is processed with the function in `InnerFn`, which returns a triplet of booleans
     /// indicating whether the first child should be processed, whether the second child should be
     /// processed, and whether to traverse the second child first instead of the other way around.
     template <bool IsAnyHit, typename Stack, typename LeafFn, typename InnerFn>
@@ -87,8 +90,11 @@
     template <typename LeafFn = IgnoreArgs>
     inline void refit(LeafFn&& = {});
 
+    template <typename IndexType = typename Index::Type>
     inline void serialize(OutputStream&) const;
-    static inline Bvh deserialize(InputStream&);
+
+    template <typename IndexType = typename Index::Type>
+    [[nodiscard]] static inline Bvh deserialize(InputStream&);
 };
 
 template <typename Node>
@@ -146,12 +152,10 @@
                     stack.push(far_index);
                 }
                 top = near_index;
-            } else if (hit_right) {
+            } else if (hit_right)
                 top = right.index;
-            }
-            else [[unlikely]] {
+            else [[unlikely]]
                 goto restart;
-            }
         }
 
         [[maybe_unused]] auto was_hit = leaf_fn(top.first_id(), top.first_id() + top.prim_count());
@@ -165,18 +169,19 @@
 template <bool IsAnyHit, bool IsRobust, typename Stack, typename LeafFn, typename InnerFn>
 void Bvh<Node>::intersect(const Ray& ray, Index start, Stack& stack, LeafFn&& leaf_fn, InnerFn&& inner_fn) const {
     auto inv_dir = ray.template get_inv_dir<!IsRobust>();
-    auto inv_dir_pad_or_inv_org = IsRobust ? ray.pad_inv_dir(inv_dir) : -inv_dir * ray.org;
+    auto inv_org = -inv_dir * ray.org;
+    auto inv_dir_pad = ray.pad_inv_dir(inv_dir);
     auto octant = ray.get_octant();
 
     traverse_top_down<IsAnyHit>(start, stack, leaf_fn, [&] (const Node& left, const Node& right) {
         inner_fn(left, right);
         std::pair<Scalar, Scalar> intr_left, intr_right;
         if constexpr (IsRobust) {
-            intr_left  = left .intersect_robust(ray, inv_dir, inv_dir_pad_or_inv_org, octant);
-            intr_right = right.intersect_robust(ray, inv_dir, inv_dir_pad_or_inv_org, octant);
+            intr_left  = left .intersect_robust(ray, inv_dir, inv_dir_pad, octant);
+            intr_right = right.intersect_robust(ray, inv_dir, inv_dir_pad, octant);
         } else {
-            intr_left  = left .intersect_fast(ray, inv_dir, inv_dir_pad_or_inv_org, octant);
-            intr_right = right.intersect_fast(ray, inv_dir, inv_dir_pad_or_inv_org, octant);
+            intr_left  = left .intersect_fast(ray, inv_dir, inv_org, octant);
+            intr_right = right.intersect_fast(ray, inv_dir, inv_org, octant);
         }
         return std::make_tuple(
             intr_left.first <= intr_left.second,
@@ -222,24 +227,26 @@
 }
 
 template <typename Node>
+template <typename IndexType>
 void Bvh<Node>::serialize(OutputStream& stream) const {
-    stream.write(nodes.size());
-    stream.write(prim_ids.size());
+    stream.write(static_cast<IndexType>(nodes.size()));
+    stream.write(static_cast<IndexType>(prim_ids.size()));
     for (auto&& node : nodes)
         node.serialize(stream);
     for (auto&& prim_id : prim_ids)
-        stream.write(prim_id);
+        stream.write(static_cast<IndexType>(prim_id));
 }
 
 template <typename Node>
+template <typename IndexType>
 Bvh<Node> Bvh<Node>::deserialize(InputStream& stream) {
     Bvh bvh;
-    bvh.nodes.resize(stream.read<size_t>());
-    bvh.prim_ids.resize(stream.read<size_t>());
+    bvh.nodes.resize(stream.read<IndexType>());
+    bvh.prim_ids.resize(stream.read<IndexType>());
     for (auto& node : bvh.nodes)
         node = Node::deserialize(stream);
     for (auto& prim_id : bvh.prim_ids)
-        prim_id = stream.read<size_t>();
+        prim_id = stream.read<IndexType>();
     return bvh;
 }
 

builtins/bvh/src/bvh/v2/c_api/CMakeLists.txt

@@ -0,0 +1,19 @@
+add_library(bvh_c SHARED bvh.cpp)
+target_link_libraries(bvh_c PRIVATE bvh)
+target_compile_definitions(bvh_c PRIVATE -DBVH_BUILD_API)
+target_include_directories(bvh_c INTERFACE
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src>
+    $<INSTALL_INTERFACE:include>)
+set_target_properties(bvh_c PROPERTIES
+    CXX_STANDARD 20
+    CXX_VISIBILITY_PRESET hidden
+    INTERPROCEDURAL_OPTIMIZATION_RELEASE ON)
+
+if (BVH_C_API_STATIC_LINK_STDLIB)
+    # Link statically against standard C++ library
+    target_link_options(bvh_c PRIVATE $<$<C_COMPILER_ID:GNU,Clang>:-static-libstdc++>)
+endif()
+
+if (BVH_C_API_UNSAFE_CASTS)
+    target_compile_definitions(bvh_c PRIVATE -DBVH_C_API_UNSAFE_CASTS)
+endif()

builtins/bvh/src/bvh/v2/c_api/bvh.cpp

@@ -0,0 +1,28 @@
+#include <bvh/v2/c_api/bvh.h>
+#include <bvh/v2/c_api/bvh_impl.h>
+#include <bvh/v2/thread_pool.h>
+
+namespace bvh::v2::c_api {
+
+BVH_TYPES(float, 2, 2f)
+BVH_TYPES(float, 3, 3f)
+BVH_TYPES(double, 2, 2d)
+BVH_TYPES(double, 3, 3d)
+
+extern "C" {
+
+BVH_EXPORT struct bvh_thread_pool* bvh_thread_pool_create(size_t thread_count) {
+    return reinterpret_cast<bvh_thread_pool*>(new bvh::v2::ThreadPool(thread_count));
+}
+
+BVH_EXPORT void bvh_thread_pool_destroy(bvh_thread_pool* thread_pool) {
+    return delete reinterpret_cast<bvh::v2::ThreadPool*>(thread_pool);
+}
+
+BVH_IMPL(float, 2, 2f)
+BVH_IMPL(float, 3, 3f)
+BVH_IMPL(double, 2, 2d)
+BVH_IMPL(double, 3, 3d)
+
+} // extern "C"
+} // namespace bvh::v2::c_api