Merge pull request #48050 from JFonS/occlusion_culling

1 files changed, 223 insertions, 0 deletions

diff --git a/thirdparty/embree-aarch64/kernels/geometry/cylinder.h b/thirdparty/embree-aarch64/kernels/geometry/cylinder.h
new file mode 100644
index 0000000000..39a582864c
--- /dev/null
+++ b/thirdparty/embree-aarch64/kernels/geometry/cylinder.h
@@ -0,0 +1,223 @@
+// Copyright 2009-2020 Intel Corporation
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "../common/ray.h"
+
+namespace embree
+{
+  namespace isa
+  {
+    struct Cylinder
+    {
+      const Vec3fa p0;  //!< start location
+      const Vec3fa p1;  //!< end position
+      const float rr;   //!< squared radius of cylinder
+
+      __forceinline Cylinder(const Vec3fa& p0, const Vec3fa& p1, const float r) 
+        : p0(p0), p1(p1), rr(sqr(r)) {}
+
+      __forceinline Cylinder(const Vec3fa& p0, const Vec3fa& p1, const float rr, bool) 
+        : p0(p0), p1(p1), rr(rr) {}
+
+      __forceinline bool intersect(const Vec3fa& org,
+                                   const Vec3fa& dir, 
+                                   BBox1f& t_o, 
+                                   float& u0_o, Vec3fa& Ng0_o,
+                                   float& u1_o, Vec3fa& Ng1_o) const
+      {
+        /* calculate quadratic equation to solve */
+        const float rl = rcp_length(p1-p0);
+        const Vec3fa P0 = p0, dP = (p1-p0)*rl;
+        const Vec3fa O = org-P0, dO = dir;
+        
+        const float dOdO = dot(dO,dO);
+        const float OdO = dot(dO,O);
+        const float OO = dot(O,O);
+        const float dOz = dot(dP,dO);
+        const float Oz = dot(dP,O);
+        
+        const float A = dOdO - sqr(dOz);
+        const float B = 2.0f * (OdO - dOz*Oz);
+        const float C = OO - sqr(Oz) - rr;
+        
+        /* we miss the cylinder if determinant is smaller than zero */
+        const float D = B*B - 4.0f*A*C;
+        if (D < 0.0f) {
+          t_o = BBox1f(pos_inf,neg_inf);
+          return false;
+        }
+        
+        /* special case for rays that are parallel to the cylinder */
+        const float eps = 16.0f*float(ulp)*max(abs(dOdO),abs(sqr(dOz)));
+        if (abs(A) < eps) 
+        {
+          if (C <= 0.0f) {
+            t_o = BBox1f(neg_inf,pos_inf);
+            return true;
+          } else {
+            t_o = BBox1f(pos_inf,neg_inf);
+            return false;
+          }
+        }
+        
+        /* standard case for rays that are not parallel to the cylinder */
+        const float Q = sqrt(D);
+        const float rcp_2A = rcp(2.0f*A);
+        const float t0 = (-B-Q)*rcp_2A;
+        const float t1 = (-B+Q)*rcp_2A;
+        
+        /* calculates u and Ng for near hit */
+        {
+          u0_o = madd(t0,dOz,Oz)*rl;
+          const Vec3fa Pr = t0*dir;
+          const Vec3fa Pl = madd(u0_o,p1-p0,p0);
+          Ng0_o = Pr-Pl;
+        }
+
+        /* calculates u and Ng for far hit */
+        {
+          u1_o = madd(t1,dOz,Oz)*rl;
+          const Vec3fa Pr = t1*dir;
+          const Vec3fa Pl = madd(u1_o,p1-p0,p0);
+          Ng1_o = Pr-Pl;
+        }
+
+        t_o.lower = t0;
+        t_o.upper = t1;
+        return true;
+      }
+
+      __forceinline bool intersect(const Vec3fa& org_i, const Vec3fa& dir, BBox1f& t_o) const
+      {
+        float u0_o; Vec3fa Ng0_o;
+        float u1_o; Vec3fa Ng1_o;
+        return intersect(org_i,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o);
+      }
+
+      static bool verify(const size_t id, const Cylinder& cylinder, const RayHit& ray, bool shouldhit, const float t0, const float t1)
+      {
+        float eps = 0.001f;
+        BBox1f t; bool hit;
+        hit = cylinder.intersect(ray.org,ray.dir,t);
+
+        bool failed = hit != shouldhit;
+        if (shouldhit) failed |= std::isinf(t0) ? t0 != t.lower : abs(t0-t.lower) > eps;
+        if (shouldhit) failed |= std::isinf(t1) ? t1 != t.upper : abs(t1-t.upper) > eps;
+        if (!failed) return true;
+        embree_cout << "Cylinder test " << id << " failed: cylinder = " << cylinder << ", ray = " << ray << ", hit = " << hit << ", t = " << t << embree_endl; 
+        return false;
+      }
+
+      /* verify cylinder class */
+      static bool verify()
+      {
+        bool passed = true;
+        const Cylinder cylinder(Vec3fa(0.0f,0.0f,0.0f),Vec3fa(1.0f,0.0f,0.0f),1.0f);
+        passed &= verify(0,cylinder,RayHit(Vec3fa(-2.0f,1.0f,0.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.0f,2.0f);
+        passed &= verify(1,cylinder,RayHit(Vec3fa(+2.0f,1.0f,0.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.0f,2.0f);
+        passed &= verify(2,cylinder,RayHit(Vec3fa(+2.0f,1.0f,2.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),false,0.0f,0.0f);
+        passed &= verify(3,cylinder,RayHit(Vec3fa(+0.0f,0.0f,0.0f),Vec3fa( 1.0f, 0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,pos_inf);
+        passed &= verify(4,cylinder,RayHit(Vec3fa(+0.0f,0.0f,0.0f),Vec3fa(-1.0f, 0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,pos_inf);
+        passed &= verify(5,cylinder,RayHit(Vec3fa(+0.0f,2.0f,0.0f),Vec3fa( 1.0f, 0.0f,+0.0f),0.0f,float(inf)),false,pos_inf,neg_inf);
+        passed &= verify(6,cylinder,RayHit(Vec3fa(+0.0f,2.0f,0.0f),Vec3fa(-1.0f, 0.0f,+0.0f),0.0f,float(inf)),false,pos_inf,neg_inf);
+        return passed;
+      }
+
+      /*! output operator */
+      friend __forceinline embree_ostream operator<<(embree_ostream cout, const Cylinder& c) {
+        return cout << "Cylinder { p0 = " << c.p0 << ", p1 = " << c.p1 << ", r = " << sqrtf(c.rr) << "}";
+      }
+    };
+
+    template<int N>
+      struct CylinderN
+    { 
+      const Vec3vf<N> p0;     //!< start location
+      const Vec3vf<N> p1;     //!< end position
+      const vfloat<N> rr;   //!< squared radius of cylinder
+
+      __forceinline CylinderN(const Vec3vf<N>& p0, const Vec3vf<N>& p1, const vfloat<N>& r)
+        : p0(p0), p1(p1), rr(sqr(r)) {}
+
+      __forceinline CylinderN(const Vec3vf<N>& p0, const Vec3vf<N>& p1, const vfloat<N>& rr, bool)
+        : p0(p0), p1(p1), rr(rr) {}
+
+     
+      __forceinline vbool<N> intersect(const Vec3fa& org, const Vec3fa& dir, 
+                                       BBox<vfloat<N>>& t_o, 
+                                       vfloat<N>& u0_o, Vec3vf<N>& Ng0_o,
+                                       vfloat<N>& u1_o, Vec3vf<N>& Ng1_o) const
+      {
+        /* calculate quadratic equation to solve */
+        const vfloat<N> rl = rcp_length(p1-p0);
+        const Vec3vf<N> P0 = p0, dP = (p1-p0)*rl;
+        const Vec3vf<N> O = Vec3vf<N>(org)-P0, dO = dir;
+        
+        const vfloat<N> dOdO = dot(dO,dO);
+        const vfloat<N> OdO = dot(dO,O);
+        const vfloat<N> OO = dot(O,O);
+        const vfloat<N> dOz = dot(dP,dO);
+        const vfloat<N> Oz = dot(dP,O);
+        
+        const vfloat<N> A = dOdO - sqr(dOz);
+        const vfloat<N> B = 2.0f * (OdO - dOz*Oz);
+        const vfloat<N> C = OO - sqr(Oz) - rr;
+        
+        /* we miss the cylinder if determinant is smaller than zero */
+        const vfloat<N> D = B*B - 4.0f*A*C;
+        vbool<N> valid = D >= 0.0f;
+        if (none(valid)) {
+          t_o = BBox<vfloat<N>>(empty);
+          return valid;
+        }
+
+        /* standard case for rays that are not parallel to the cylinder */
+        const vfloat<N> Q = sqrt(D);
+        const vfloat<N> rcp_2A = rcp(2.0f*A);
+        const vfloat<N> t0 = (-B-Q)*rcp_2A;
+        const vfloat<N> t1 = (-B+Q)*rcp_2A;
+        
+        /* calculates u and Ng for near hit */
+        {
+          u0_o = madd(t0,dOz,Oz)*rl;
+          const Vec3vf<N> Pr = t0*Vec3vf<N>(dir);
+          const Vec3vf<N> Pl = madd(u0_o,p1-p0,p0);
+          Ng0_o = Pr-Pl;
+        }
+        
+        /* calculates u and Ng for far hit */
+        {
+          u1_o = madd(t1,dOz,Oz)*rl;
+          const Vec3vf<N> Pr = t1*Vec3vf<N>(dir);
+          const Vec3vf<N> Pl = madd(u1_o,p1-p0,p0);
+          Ng1_o = Pr-Pl;
+        }
+
+        t_o.lower = select(valid, t0, vfloat<N>(pos_inf));
+        t_o.upper = select(valid, t1, vfloat<N>(neg_inf));
+
+        /* special case for rays that are parallel to the cylinder */
+        const vfloat<N> eps = 16.0f*float(ulp)*max(abs(dOdO),abs(sqr(dOz)));
+        vbool<N> validt = valid & (abs(A) < eps); 
+        if (unlikely(any(validt))) 
+        {
+          vbool<N> inside = C <= 0.0f;
+          t_o.lower = select(validt,select(inside,vfloat<N>(neg_inf),vfloat<N>(pos_inf)),t_o.lower);
+          t_o.upper = select(validt,select(inside,vfloat<N>(pos_inf),vfloat<N>(neg_inf)),t_o.upper);
+          valid &= !validt | inside;
+        }
+        return valid;
+      }
+
+      __forceinline vbool<N> intersect(const Vec3fa& org_i, const Vec3fa& dir, BBox<vfloat<N>>& t_o) const
+      {
+        vfloat<N> u0_o; Vec3vf<N> Ng0_o;
+        vfloat<N> u1_o; Vec3vf<N> Ng1_o;
+        return intersect(org_i,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o);
+      }
+    };
+  }
+}
+