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-rw-r--r--thirdparty/embree-aarch64/common/math/quaternion.h254
1 files changed, 254 insertions, 0 deletions
diff --git a/thirdparty/embree-aarch64/common/math/quaternion.h b/thirdparty/embree-aarch64/common/math/quaternion.h
new file mode 100644
index 0000000000..20c69bc62f
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+++ b/thirdparty/embree-aarch64/common/math/quaternion.h
@@ -0,0 +1,254 @@
+// Copyright 2009-2020 Intel Corporation
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "vec3.h"
+#include "vec4.h"
+
+#include "transcendental.h"
+
+namespace embree
+{
+ ////////////////////////////////////////////////////////////////
+ // Quaternion Struct
+ ////////////////////////////////////////////////////////////////
+
+ template<typename T>
+ struct QuaternionT
+ {
+ typedef Vec3<T> Vector;
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// Construction
+ ////////////////////////////////////////////////////////////////////////////////
+
+ __forceinline QuaternionT () { }
+ __forceinline QuaternionT ( const QuaternionT& other ) { r = other.r; i = other.i; j = other.j; k = other.k; }
+ __forceinline QuaternionT& operator=( const QuaternionT& other ) { r = other.r; i = other.i; j = other.j; k = other.k; return *this; }
+
+ __forceinline QuaternionT( const T& r ) : r(r), i(zero), j(zero), k(zero) {}
+ __forceinline explicit QuaternionT( const Vec3<T>& v ) : r(zero), i(v.x), j(v.y), k(v.z) {}
+ __forceinline explicit QuaternionT( const Vec4<T>& v ) : r(v.x), i(v.y), j(v.z), k(v.w) {}
+ __forceinline QuaternionT( const T& r, const T& i, const T& j, const T& k ) : r(r), i(i), j(j), k(k) {}
+ __forceinline QuaternionT( const T& r, const Vec3<T>& v ) : r(r), i(v.x), j(v.y), k(v.z) {}
+
+ __inline QuaternionT( const Vec3<T>& vx, const Vec3<T>& vy, const Vec3<T>& vz );
+ __inline QuaternionT( const T& yaw, const T& pitch, const T& roll );
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// Constants
+ ////////////////////////////////////////////////////////////////////////////////
+
+ __forceinline QuaternionT( ZeroTy ) : r(zero), i(zero), j(zero), k(zero) {}
+ __forceinline QuaternionT( OneTy ) : r( one), i(zero), j(zero), k(zero) {}
+
+ /*! return quaternion for rotation around arbitrary axis */
+ static __forceinline QuaternionT rotate(const Vec3<T>& u, const T& r) {
+ return QuaternionT<T>(cos(T(0.5)*r),sin(T(0.5)*r)*normalize(u));
+ }
+
+ /*! returns the rotation axis of the quaternion as a vector */
+ __forceinline Vec3<T> v( ) const { return Vec3<T>(i, j, k); }
+
+ public:
+ T r, i, j, k;
+ };
+
+ template<typename T> __forceinline QuaternionT<T> operator *( const T & a, const QuaternionT<T>& b ) { return QuaternionT<T>(a * b.r, a * b.i, a * b.j, a * b.k); }
+ template<typename T> __forceinline QuaternionT<T> operator *( const QuaternionT<T>& a, const T & b ) { return QuaternionT<T>(a.r * b, a.i * b, a.j * b, a.k * b); }
+
+ ////////////////////////////////////////////////////////////////
+ // Unary Operators
+ ////////////////////////////////////////////////////////////////
+
+ template<typename T> __forceinline QuaternionT<T> operator +( const QuaternionT<T>& a ) { return QuaternionT<T>(+a.r, +a.i, +a.j, +a.k); }
+ template<typename T> __forceinline QuaternionT<T> operator -( const QuaternionT<T>& a ) { return QuaternionT<T>(-a.r, -a.i, -a.j, -a.k); }
+ template<typename T> __forceinline QuaternionT<T> conj ( const QuaternionT<T>& a ) { return QuaternionT<T>(a.r, -a.i, -a.j, -a.k); }
+ template<typename T> __forceinline T abs ( const QuaternionT<T>& a ) { return sqrt(a.r*a.r + a.i*a.i + a.j*a.j + a.k*a.k); }
+ template<typename T> __forceinline QuaternionT<T> rcp ( const QuaternionT<T>& a ) { return conj(a)*rcp(a.r*a.r + a.i*a.i + a.j*a.j + a.k*a.k); }
+ template<typename T> __forceinline QuaternionT<T> normalize ( const QuaternionT<T>& a ) { return a*rsqrt(a.r*a.r + a.i*a.i + a.j*a.j + a.k*a.k); }
+
+ // evaluates a*q-r
+ template<typename T> __forceinline QuaternionT<T>
+ msub(const T& a, const QuaternionT<T>& q, const QuaternionT<T>& p)
+ {
+ return QuaternionT<T>(msub(a, q.r, p.r),
+ msub(a, q.i, p.i),
+ msub(a, q.j, p.j),
+ msub(a, q.k, p.k));
+ }
+ // evaluates a*q-r
+ template<typename T> __forceinline QuaternionT<T>
+ madd (const T& a, const QuaternionT<T>& q, const QuaternionT<T>& p)
+ {
+ return QuaternionT<T>(madd(a, q.r, p.r),
+ madd(a, q.i, p.i),
+ madd(a, q.j, p.j),
+ madd(a, q.k, p.k));
+ }
+
+ ////////////////////////////////////////////////////////////////
+ // Binary Operators
+ ////////////////////////////////////////////////////////////////
+
+ template<typename T> __forceinline QuaternionT<T> operator +( const T & a, const QuaternionT<T>& b ) { return QuaternionT<T>(a + b.r, b.i, b.j, b.k); }
+ template<typename T> __forceinline QuaternionT<T> operator +( const QuaternionT<T>& a, const T & b ) { return QuaternionT<T>(a.r + b, a.i, a.j, a.k); }
+ template<typename T> __forceinline QuaternionT<T> operator +( const QuaternionT<T>& a, const QuaternionT<T>& b ) { return QuaternionT<T>(a.r + b.r, a.i + b.i, a.j + b.j, a.k + b.k); }
+ template<typename T> __forceinline QuaternionT<T> operator -( const T & a, const QuaternionT<T>& b ) { return QuaternionT<T>(a - b.r, -b.i, -b.j, -b.k); }
+ template<typename T> __forceinline QuaternionT<T> operator -( const QuaternionT<T>& a, const T & b ) { return QuaternionT<T>(a.r - b, a.i, a.j, a.k); }
+ template<typename T> __forceinline QuaternionT<T> operator -( const QuaternionT<T>& a, const QuaternionT<T>& b ) { return QuaternionT<T>(a.r - b.r, a.i - b.i, a.j - b.j, a.k - b.k); }
+
+ template<typename T> __forceinline Vec3<T> operator *( const QuaternionT<T>& a, const Vec3<T> & b ) { return (a*QuaternionT<T>(b)*conj(a)).v(); }
+ template<typename T> __forceinline QuaternionT<T> operator *( const QuaternionT<T>& a, const QuaternionT<T>& b ) {
+ return QuaternionT<T>(a.r*b.r - a.i*b.i - a.j*b.j - a.k*b.k,
+ a.r*b.i + a.i*b.r + a.j*b.k - a.k*b.j,
+ a.r*b.j - a.i*b.k + a.j*b.r + a.k*b.i,
+ a.r*b.k + a.i*b.j - a.j*b.i + a.k*b.r);
+ }
+ template<typename T> __forceinline QuaternionT<T> operator /( const T & a, const QuaternionT<T>& b ) { return a*rcp(b); }
+ template<typename T> __forceinline QuaternionT<T> operator /( const QuaternionT<T>& a, const T & b ) { return a*rcp(b); }
+ template<typename T> __forceinline QuaternionT<T> operator /( const QuaternionT<T>& a, const QuaternionT<T>& b ) { return a*rcp(b); }
+
+ template<typename T> __forceinline QuaternionT<T>& operator +=( QuaternionT<T>& a, const T & b ) { return a = a+b; }
+ template<typename T> __forceinline QuaternionT<T>& operator +=( QuaternionT<T>& a, const QuaternionT<T>& b ) { return a = a+b; }
+ template<typename T> __forceinline QuaternionT<T>& operator -=( QuaternionT<T>& a, const T & b ) { return a = a-b; }
+ template<typename T> __forceinline QuaternionT<T>& operator -=( QuaternionT<T>& a, const QuaternionT<T>& b ) { return a = a-b; }
+ template<typename T> __forceinline QuaternionT<T>& operator *=( QuaternionT<T>& a, const T & b ) { return a = a*b; }
+ template<typename T> __forceinline QuaternionT<T>& operator *=( QuaternionT<T>& a, const QuaternionT<T>& b ) { return a = a*b; }
+ template<typename T> __forceinline QuaternionT<T>& operator /=( QuaternionT<T>& a, const T & b ) { return a = a*rcp(b); }
+ template<typename T> __forceinline QuaternionT<T>& operator /=( QuaternionT<T>& a, const QuaternionT<T>& b ) { return a = a*rcp(b); }
+
+ template<typename T, typename M> __forceinline QuaternionT<T>
+ select(const M& m, const QuaternionT<T>& q, const QuaternionT<T>& p)
+ {
+ return QuaternionT<T>(select(m, q.r, p.r),
+ select(m, q.i, p.i),
+ select(m, q.j, p.j),
+ select(m, q.k, p.k));
+ }
+
+
+ template<typename T> __forceinline Vec3<T> xfmPoint ( const QuaternionT<T>& a, const Vec3<T>& b ) { return (a*QuaternionT<T>(b)*conj(a)).v(); }
+ template<typename T> __forceinline Vec3<T> xfmVector( const QuaternionT<T>& a, const Vec3<T>& b ) { return (a*QuaternionT<T>(b)*conj(a)).v(); }
+ template<typename T> __forceinline Vec3<T> xfmNormal( const QuaternionT<T>& a, const Vec3<T>& b ) { return (a*QuaternionT<T>(b)*conj(a)).v(); }
+
+ template<typename T> __forceinline T dot(const QuaternionT<T>& a, const QuaternionT<T>& b) { return a.r*b.r + a.i*b.i + a.j*b.j + a.k*b.k; }
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// Comparison Operators
+ ////////////////////////////////////////////////////////////////////////////////
+
+ template<typename T> __forceinline bool operator ==( const QuaternionT<T>& a, const QuaternionT<T>& b ) { return a.r == b.r && a.i == b.i && a.j == b.j && a.k == b.k; }
+ template<typename T> __forceinline bool operator !=( const QuaternionT<T>& a, const QuaternionT<T>& b ) { return a.r != b.r || a.i != b.i || a.j != b.j || a.k != b.k; }
+
+
+ ////////////////////////////////////////////////////////////////////////////////
+ /// Orientation Functions
+ ////////////////////////////////////////////////////////////////////////////////
+
+ template<typename T> QuaternionT<T>::QuaternionT( const Vec3<T>& vx, const Vec3<T>& vy, const Vec3<T>& vz )
+ {
+ if ( vx.x + vy.y + vz.z >= T(zero) )
+ {
+ const T t = T(one) + (vx.x + vy.y + vz.z);
+ const T s = rsqrt(t)*T(0.5f);
+ r = t*s;
+ i = (vy.z - vz.y)*s;
+ j = (vz.x - vx.z)*s;
+ k = (vx.y - vy.x)*s;
+ }
+ else if ( vx.x >= max(vy.y, vz.z) )
+ {
+ const T t = (T(one) + vx.x) - (vy.y + vz.z);
+ const T s = rsqrt(t)*T(0.5f);
+ r = (vy.z - vz.y)*s;
+ i = t*s;
+ j = (vx.y + vy.x)*s;
+ k = (vz.x + vx.z)*s;
+ }
+ else if ( vy.y >= vz.z ) // if ( vy.y >= max(vz.z, vx.x) )
+ {
+ const T t = (T(one) + vy.y) - (vz.z + vx.x);
+ const T s = rsqrt(t)*T(0.5f);
+ r = (vz.x - vx.z)*s;
+ i = (vx.y + vy.x)*s;
+ j = t*s;
+ k = (vy.z + vz.y)*s;
+ }
+ else //if ( vz.z >= max(vy.y, vx.x) )
+ {
+ const T t = (T(one) + vz.z) - (vx.x + vy.y);
+ const T s = rsqrt(t)*T(0.5f);
+ r = (vx.y - vy.x)*s;
+ i = (vz.x + vx.z)*s;
+ j = (vy.z + vz.y)*s;
+ k = t*s;
+ }
+ }
+
+ template<typename T> QuaternionT<T>::QuaternionT( const T& yaw, const T& pitch, const T& roll )
+ {
+ const T cya = cos(yaw *T(0.5f));
+ const T cpi = cos(pitch*T(0.5f));
+ const T cro = cos(roll *T(0.5f));
+ const T sya = sin(yaw *T(0.5f));
+ const T spi = sin(pitch*T(0.5f));
+ const T sro = sin(roll *T(0.5f));
+ r = cro*cya*cpi + sro*sya*spi;
+ i = cro*cya*spi + sro*sya*cpi;
+ j = cro*sya*cpi - sro*cya*spi;
+ k = sro*cya*cpi - cro*sya*spi;
+ }
+
+ //////////////////////////////////////////////////////////////////////////////
+ /// Output Operators
+ //////////////////////////////////////////////////////////////////////////////
+
+ template<typename T> static embree_ostream operator<<(embree_ostream cout, const QuaternionT<T>& q) {
+ return cout << "{ r = " << q.r << ", i = " << q.i << ", j = " << q.j << ", k = " << q.k << " }";
+ }
+
+ /*! default template instantiations */
+ typedef QuaternionT<float> Quaternion3f;
+ typedef QuaternionT<double> Quaternion3d;
+
+ template<int N> using Quaternion3vf = QuaternionT<vfloat<N>>;
+ typedef QuaternionT<vfloat<4>> Quaternion3vf4;
+ typedef QuaternionT<vfloat<8>> Quaternion3vf8;
+ typedef QuaternionT<vfloat<16>> Quaternion3vf16;
+
+ //////////////////////////////////////////////////////////////////////////////
+ /// Interpolation
+ //////////////////////////////////////////////////////////////////////////////
+ template<typename T>
+ __forceinline QuaternionT<T>lerp(const QuaternionT<T>& q0,
+ const QuaternionT<T>& q1,
+ const T& factor)
+ {
+ QuaternionT<T> q;
+ q.r = lerp(q0.r, q1.r, factor);
+ q.i = lerp(q0.i, q1.i, factor);
+ q.j = lerp(q0.j, q1.j, factor);
+ q.k = lerp(q0.k, q1.k, factor);
+ return q;
+ }
+
+ template<typename T>
+ __forceinline QuaternionT<T> slerp(const QuaternionT<T>& q0,
+ const QuaternionT<T>& q1_,
+ const T& t)
+ {
+ T cosTheta = dot(q0, q1_);
+ QuaternionT<T> q1 = select(cosTheta < 0.f, -q1_, q1_);
+ cosTheta = select(cosTheta < 0.f, -cosTheta, cosTheta);
+ if (unlikely(all(cosTheta > 0.9995f))) {
+ return normalize(lerp(q0, q1, t));
+ }
+ const T phi = t * fastapprox::acos(cosTheta);
+ T sinPhi, cosPhi;
+ fastapprox::sincos(phi, sinPhi, cosPhi);
+ QuaternionT<T> qperp = sinPhi * normalize(msub(cosTheta, q0, q1));
+ return msub(cosPhi, q0, qperp);
+ }
+}
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