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Diffstat (limited to 'thirdparty/embree-aarch64/kernels/geometry/cylinder.h')
| -rw-r--r-- | thirdparty/embree-aarch64/kernels/geometry/cylinder.h | 223 |
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); + } + }; + } +} + |