#pragma kernel BakeVertexTexColorResK2

uint2 PointCloudRes;
uint2 DepthRes;
float2 SpaceScale;

uint MinDepth;
uint MaxDepth;

int BodyIndexAll;

int BodyIndex0;
int BodyIndex1;
int BodyIndex2;
int BodyIndex3;
int BodyIndex4;

StructuredBuffer<float> SpaceTable;
StructuredBuffer<uint> DepthMap;
StructuredBuffer<uint> BodyIndexMap;
StructuredBuffer<float> ColorToDepthMap;

RWTexture2D<float4> PointCloudVertexTex;


[numthreads(8, 8, 1)]
void BakeVertexTexColorResK2(uint3 id : SV_DispatchThreadID)
{
    uint i = id.x + id.y * PointCloudRes.x;

	int dx = max(ColorToDepthMap[i << 1], 0);
	int dy = max(ColorToDepthMap[(i << 1) + 1], 0);
	uint di = dx + dy * DepthRes.x;

	uint depth2 = DepthMap[di >> 1];
	uint depth = di & 1 != 0 ? depth2 >> 16 : depth2 & 0xffff;

	depth = (depth >= MinDepth && depth <= MaxDepth) * depth;
	//float fDepth = (float)depth / 1000.0;
	//bool mask = depth != 0;

	uint bi4 = BodyIndexMap[di >> 2];
	int bi = 255;

	switch (di & 3)
	{
	case 0:
		bi = bi4 & 255;
		break;
	case 1:
		bi = (bi4 >> 8) & 255;
		break;
	case 2:
		bi = (bi4 >> 16) & 255;
		break;
	case 3:
		bi = (bi4 >> 24) & 255;
		break;
	}

	bool mask = false;
	if (BodyIndexAll != 0)
	{
		mask = (bi != 255);
	}
	else
	{
		mask = ((bi == BodyIndex0) || (bi == BodyIndex1) || (bi == BodyIndex2) || (bi == BodyIndex3) || (bi == BodyIndex4));
	}

	float fDepth = (float)(depth * mask) / 1000.0;

	float3 pos = float3(
		SpaceTable[di * 3] * fDepth * SpaceScale.x,
        SpaceTable[di * 3 + 1] * fDepth * SpaceScale.y,
        mask ? fDepth : 1000
    );

	PointCloudVertexTex[id.xy] = float4(pos, mask);
}