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Diffstat (limited to 'thirdparty/embree/kernels/geometry/cone.h')
| -rw-r--r-- | thirdparty/embree/kernels/geometry/cone.h | 321 |
1 files changed, 321 insertions, 0 deletions
diff --git a/thirdparty/embree/kernels/geometry/cone.h b/thirdparty/embree/kernels/geometry/cone.h new file mode 100644 index 0000000000..17429bab32 --- /dev/null +++ b/thirdparty/embree/kernels/geometry/cone.h @@ -0,0 +1,321 @@ +// Copyright 2009-2021 Intel Corporation +// SPDX-License-Identifier: Apache-2.0 + +#pragma once + +#include "../common/ray.h" + +namespace embree +{ + namespace isa + { + struct Cone + { + const Vec3fa p0; //!< start position of cone + const Vec3fa p1; //!< end position of cone + const float r0; //!< start radius of cone + const float r1; //!< end radius of cone + + __forceinline Cone(const Vec3fa& p0, const float r0, const Vec3fa& p1, const float r1) + : p0(p0), p1(p1), r0(r0), r1(r1) {} + + __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 Vec3fa v0 = p0-org; + const Vec3fa v1 = p1-org; + + const float rl = rcp_length(v1-v0); + const Vec3fa P0 = v0, dP = (v1-v0)*rl; + const float dr = (r1-r0)*rl; + const Vec3fa O = -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 R = r0 + Oz*dr; + const float A = dOdO - sqr(dOz) * (1.0f+sqr(dr)); + const float B = 2.0f * (OdO - dOz*(Oz + R*dr)); + const float C = OO - (sqr(Oz) + sqr(R)); + + /* we miss the cone if determinant is smaller than zero */ + const float D = B*B - 4.0f*A*C; + if (D < 0.0f) return false; + + /* special case for rays that are "parallel" to the cone */ + const float eps = float(1<<8)*float(ulp)*max(abs(dOdO),abs(sqr(dOz))); + if (unlikely(abs(A) < eps)) + { + /* cylinder case */ + if (abs(dr) < 16.0f*float(ulp)) { + if (C <= 0.0f) { t_o = BBox1f(neg_inf,pos_inf); return true; } + else { t_o = BBox1f(pos_inf,neg_inf); return false; } + } + + /* cone case */ + else + { + /* if we hit the negative cone there cannot be a hit */ + const float t = -C/B; + const float z0 = Oz+t*dOz; + const float z0r = r0+z0*dr; + if (z0r < 0.0f) return false; + + /* test if we start inside or outside the cone */ + if (dOz*dr > 0.0f) t_o = BBox1f(t,pos_inf); + else t_o = BBox1f(neg_inf,t); + } + } + + /* standard case for "non-parallel" rays */ + else + { + const float Q = sqrt(D); + const float rcp_2A = rcp(2.0f*A); + t_o.lower = (-B-Q)*rcp_2A; + t_o.upper = (-B+Q)*rcp_2A; + + /* standard case where both hits are on same cone */ + if (likely(A > 0.0f)) { + const float z0 = Oz+t_o.lower*dOz; + const float z0r = r0+z0*dr; + if (z0r < 0.0f) return false; + } + + /* special case where the hits are on the positive and negative cone */ + else + { + /* depending on the ray direction and the open direction + * of the cone we have a hit from inside or outside the + * cone */ + if (dOz*dr > 0) t_o.upper = pos_inf; + else t_o.lower = neg_inf; + } + } + + /* calculates u and Ng for near hit */ + { + u0_o = (Oz+t_o.lower*dOz)*rl; + const Vec3fa Pr = t_o.lower*dir; + const Vec3fa Pl = v0 + u0_o*(v1-v0); + const Vec3fa R = normalize(Pr-Pl); + const Vec3fa U = (p1-p0)+(r1-r0)*R; + const Vec3fa V = cross(p1-p0,R); + Ng0_o = cross(V,U); + } + + /* calculates u and Ng for far hit */ + { + u1_o = (Oz+t_o.upper*dOz)*rl; + const Vec3fa Pr = t_o.upper*dir; + const Vec3fa Pl = v0 + u1_o*(v1-v0); + const Vec3fa R = normalize(Pr-Pl); + const Vec3fa U = (p1-p0)+(r1-r0)*R; + const Vec3fa V = cross(p1-p0,R); + Ng1_o = cross(V,U); + } + return true; + } + + __forceinline bool intersect(const Vec3fa& org, const Vec3fa& dir, BBox1f& t_o) const + { + float u0_o; Vec3fa Ng0_o; float u1_o; Vec3fa Ng1_o; + return intersect(org,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o); + } + + static bool verify(const size_t id, const Cone& cone, const Ray& ray, bool shouldhit, const float t0, const float t1) + { + float eps = 0.001f; + BBox1f t; bool hit; + hit = cone.intersect(ray.org,ray.dir,t); + + bool failed = hit != shouldhit; + if (shouldhit) failed |= std::isinf(t0) ? t0 != t.lower : (t0 == -1E6) ? t.lower > -1E6f : abs(t0-t.lower) > eps; + if (shouldhit) failed |= std::isinf(t1) ? t1 != t.upper : (t1 == +1E6) ? t.upper < +1E6f : abs(t1-t.upper) > eps; + if (!failed) return true; + embree_cout << "Cone test " << id << " failed: cone = " << cone << ", ray = " << ray << ", hit = " << hit << ", t = " << t << embree_endl; + return false; + } + + /* verify cone class */ + static bool verify() + { + bool passed = true; + const Cone cone0(Vec3fa(0.0f,0.0f,0.0f),0.0f,Vec3fa(1.0f,0.0f,0.0f),1.0f); + passed &= verify(0,cone0,Ray(Vec3fa(-2.0f,1.0f,0.0f),Vec3fa(+1.0f,+0.0f,+0.0f),0.0f,float(inf)),true,3.0f,pos_inf); + passed &= verify(1,cone0,Ray(Vec3fa(+2.0f,1.0f,0.0f),Vec3fa(-1.0f,+0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,1.0f); + passed &= verify(2,cone0,Ray(Vec3fa(-1.0f,0.0f,2.0f),Vec3fa(+0.0f,+0.0f,-1.0f),0.0f,float(inf)),false,0.0f,0.0f); + passed &= verify(3,cone0,Ray(Vec3fa(+1.0f,0.0f,2.0f),Vec3fa(+0.0f,+0.0f,-1.0f),0.0f,float(inf)),true,1.0f,3.0f); + passed &= verify(4,cone0,Ray(Vec3fa(-1.0f,0.0f,0.0f),Vec3fa(+1.0f,+0.0f,+0.0f),0.0f,float(inf)),true,1.0f,pos_inf); + passed &= verify(5,cone0,Ray(Vec3fa(+1.0f,0.0f,0.0f),Vec3fa(-1.0f,+0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,1.0f); + passed &= verify(6,cone0,Ray(Vec3fa(+0.0f,0.0f,1.0f),Vec3fa(+0.0f,+0.0f,-1.0f),0.0f,float(inf)),true,1.0f,1.0f); + passed &= verify(7,cone0,Ray(Vec3fa(+0.0f,1.0f,0.0f),Vec3fa(-1.0f,-1.0f,+0.0f),0.0f,float(inf)),false,0.0f,0.0f); + passed &= verify(8,cone0,Ray(Vec3fa(+0.0f,1.0f,0.0f),Vec3fa(+1.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.5f,+1E6); + passed &= verify(9,cone0,Ray(Vec3fa(+0.0f,1.0f,0.0f),Vec3fa(-1.0f,+1.0f,+0.0f),0.0f,float(inf)),true,-1E6,-0.5f); + const Cone cone1(Vec3fa(0.0f,0.0f,0.0f),1.0f,Vec3fa(1.0f,0.0f,0.0f),0.0f); + passed &= verify(10,cone1,Ray(Vec3fa(-2.0f,1.0f,0.0f),Vec3fa(+1.0f,+0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,2.0f); + passed &= verify(11,cone1,Ray(Vec3fa(-1.0f,0.0f,2.0f),Vec3fa(+0.0f,+0.0f,-1.0f),0.0f,float(inf)),true,0.0f,4.0f); + const Cone cylinder(Vec3fa(0.0f,0.0f,0.0f),1.0f,Vec3fa(1.0f,0.0f,0.0f),1.0f); + passed &= verify(12,cylinder,Ray(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(13,cylinder,Ray(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(14,cylinder,Ray(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(15,cylinder,Ray(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(16,cylinder,Ray(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(17,cylinder,Ray(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(18,cylinder,Ray(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 Cone& c) { + return cout << "Cone { p0 = " << c.p0 << ", r0 = " << c.r0 << ", p1 = " << c.p1 << ", r1 = " << c.r1 << "}"; + } + }; + + template<int N> + struct ConeN + { + typedef Vec3<vfloat<N>> Vec3vfN; + + const Vec3vfN p0; //!< start position of cone + const Vec3vfN p1; //!< end position of cone + const vfloat<N> r0; //!< start radius of cone + const vfloat<N> r1; //!< end radius of cone + + __forceinline ConeN(const Vec3vfN& p0, const vfloat<N>& r0, const Vec3vfN& p1, const vfloat<N>& r1) + : p0(p0), p1(p1), r0(r0), r1(r1) {} + + __forceinline Cone operator[] (const size_t i) const + { + assert(i<N); + return Cone(Vec3fa(p0.x[i],p0.y[i],p0.z[i]),r0[i],Vec3fa(p1.x[i],p1.y[i],p1.z[i]),r1[i]); + } + + __forceinline vbool<N> intersect(const Vec3fa& org, const Vec3fa& dir, + BBox<vfloat<N>>& t_o, + vfloat<N>& u0_o, Vec3vfN& Ng0_o, + vfloat<N>& u1_o, Vec3vfN& Ng1_o) const + { + /* calculate quadratic equation to solve */ + const Vec3vfN v0 = p0-Vec3vfN(org); + const Vec3vfN v1 = p1-Vec3vfN(org); + + const vfloat<N> rl = rcp_length(v1-v0); + const Vec3vfN P0 = v0, dP = (v1-v0)*rl; + const vfloat<N> dr = (r1-r0)*rl; + const Vec3vfN O = -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> R = r0 + Oz*dr; + const vfloat<N> A = dOdO - sqr(dOz) * (vfloat<N>(1.0f)+sqr(dr)); + const vfloat<N> B = 2.0f * (OdO - dOz*(Oz + R*dr)); + const vfloat<N> C = OO - (sqr(Oz) + sqr(R)); + + /* we miss the cone 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)) return valid; + + /* special case for rays that are "parallel" to the cone */ + const vfloat<N> eps = float(1<<8)*float(ulp)*max(abs(dOdO),abs(sqr(dOz))); + const vbool<N> validt = valid & (abs(A) < eps); + const vbool<N> validf = valid & !(abs(A) < eps); + if (unlikely(any(validt))) + { + const vboolx validtt = validt & (abs(dr) < 16.0f*float(ulp)); + const vboolx validtf = validt & (abs(dr) >= 16.0f*float(ulp)); + + /* cylinder case */ + if (unlikely(any(validtt))) + { + t_o.lower = select(validtt, select(C <= 0.0f, vfloat<N>(neg_inf), vfloat<N>(pos_inf)), t_o.lower); + t_o.upper = select(validtt, select(C <= 0.0f, vfloat<N>(pos_inf), vfloat<N>(neg_inf)), t_o.upper); + valid &= !validtt | C <= 0.0f; + } + + /* cone case */ + if (any(validtf)) + { + /* if we hit the negative cone there cannot be a hit */ + const vfloat<N> t = -C/B; + const vfloat<N> z0 = Oz+t*dOz; + const vfloat<N> z0r = r0+z0*dr; + valid &= !validtf | z0r >= 0.0f; + + /* test if we start inside or outside the cone */ + t_o.lower = select(validtf, select(dOz*dr > 0.0f, t, vfloat<N>(neg_inf)), t_o.lower); + t_o.upper = select(validtf, select(dOz*dr > 0.0f, vfloat<N>(pos_inf), t), t_o.upper); + } + } + + /* standard case for "non-parallel" rays */ + if (likely(any(validf))) + { + const vfloat<N> Q = sqrt(D); + const vfloat<N> rcp_2A = 0.5f*rcp(A); + t_o.lower = select(validf, (-B-Q)*rcp_2A, t_o.lower); + t_o.upper = select(validf, (-B+Q)*rcp_2A, t_o.upper); + + /* standard case where both hits are on same cone */ + const vbool<N> validft = validf & A>0.0f; + const vbool<N> validff = validf & !(A>0.0f); + if (any(validft)) { + const vfloat<N> z0 = Oz+t_o.lower*dOz; + const vfloat<N> z0r = r0+z0*dr; + valid &= !validft | z0r >= 0.0f; + } + + /* special case where the hits are on the positive and negative cone */ + if (any(validff)) { + /* depending on the ray direction and the open direction + * of the cone we have a hit from inside or outside the + * cone */ + t_o.lower = select(validff, select(dOz*dr > 0.0f, t_o.lower, float(neg_inf)), t_o.lower); + t_o.upper = select(validff, select(dOz*dr > 0.0f, float(pos_inf), t_o.upper), t_o.upper); + } + } + + /* calculates u and Ng for near hit */ + { + u0_o = (Oz+t_o.lower*dOz)*rl; + const Vec3vfN Pr = t_o.lower*Vec3vfN(dir); + const Vec3vfN Pl = v0 + u0_o*(v1-v0); + const Vec3vfN R = normalize(Pr-Pl); + const Vec3vfN U = (p1-p0)+(r1-r0)*R; + const Vec3vfN V = cross(p1-p0,R); + Ng0_o = cross(V,U); + } + + /* calculates u and Ng for far hit */ + { + u1_o = (Oz+t_o.upper*dOz)*rl; + const Vec3vfN Pr = t_o.lower*Vec3vfN(dir); + const Vec3vfN Pl = v0 + u1_o*(v1-v0); + const Vec3vfN R = normalize(Pr-Pl); + const Vec3vfN U = (p1-p0)+(r1-r0)*R; + const Vec3vfN V = cross(p1-p0,R); + Ng1_o = cross(V,U); + } + return valid; + } + + __forceinline vbool<N> intersect(const Vec3fa& org, const Vec3fa& dir, BBox<vfloat<N>>& t_o) const + { + vfloat<N> u0_o; Vec3vfN Ng0_o; vfloat<N> u1_o; Vec3vfN Ng1_o; + return intersect(org,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o); + } + }; + } +} + |