// Copyright 2009-2021 Intel Corporation // SPDX-License-Identifier: Apache-2.0 #pragma once #include "triangle.h" #include "trianglev.h" #include "trianglev_mb.h" #include "intersector_epilog.h" /*! Modified Pluecker ray/triangle intersector. The test first shifts * the ray origin into the origin of the coordinate system and then * uses Pluecker coordinates for the intersection. Due to the shift, * the Pluecker coordinate calculation simplifies and the tests get * numerically stable. The edge equations are watertight along the * edge for neighboring triangles. */ namespace embree { namespace isa { template<int M, typename UVMapper> struct PlueckerHitM { __forceinline PlueckerHitM(const UVMapper& mapUV) : mapUV(mapUV) {} __forceinline PlueckerHitM(const vbool<M>& valid, const vfloat<M>& U, const vfloat<M>& V, const vfloat<M>& UVW, const vfloat<M>& t, const Vec3vf<M>& Ng, const UVMapper& mapUV) : U(U), V(V), UVW(UVW), mapUV(mapUV), valid(valid), vt(t), vNg(Ng) {} __forceinline void finalize() { const vbool<M> invalid = abs(UVW) < min_rcp_input; const vfloat<M> rcpUVW = select(invalid,vfloat<M>(0.0f),rcp(UVW)); vu = min(U * rcpUVW,1.0f); vv = min(V * rcpUVW,1.0f); mapUV(vu,vv,vNg); } __forceinline Vec2vf<M> uv() const { return Vec2vf<M>(vu,vv); } __forceinline vfloat<M> t () const { return vt; } __forceinline Vec3vf<M> Ng() const { return vNg; } __forceinline Vec2f uv (const size_t i) const { return Vec2f(vu[i],vv[i]); } __forceinline float t (const size_t i) const { return vt[i]; } __forceinline Vec3fa Ng(const size_t i) const { return Vec3fa(vNg.x[i],vNg.y[i],vNg.z[i]); } public: vfloat<M> U; vfloat<M> V; vfloat<M> UVW; const UVMapper& mapUV; public: vbool<M> valid; vfloat<M> vu; vfloat<M> vv; vfloat<M> vt; Vec3vf<M> vNg; }; template<int M, bool early_out = true> struct PlueckerIntersector1 { __forceinline PlueckerIntersector1() {} __forceinline PlueckerIntersector1(const Ray& ray, const void* ptr) {} template<typename UVMapper> __forceinline bool intersect(const vbool<M>& valid0, Ray& ray, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const UVMapper& mapUV, PlueckerHitM<M,UVMapper>& hit) const { vbool<M> valid = valid0; /* calculate vertices relative to ray origin */ const Vec3vf<M> O = Vec3vf<M>((Vec3fa)ray.org); const Vec3vf<M> D = Vec3vf<M>((Vec3fa)ray.dir); const Vec3vf<M> v0 = tri_v0-O; const Vec3vf<M> v1 = tri_v1-O; const Vec3vf<M> v2 = tri_v2-O; /* calculate triangle edges */ const Vec3vf<M> e0 = v2-v0; const Vec3vf<M> e1 = v0-v1; const Vec3vf<M> e2 = v1-v2; /* perform edge tests */ const vfloat<M> U = dot(cross(e0,v2+v0),D); const vfloat<M> V = dot(cross(e1,v0+v1),D); const vfloat<M> W = dot(cross(e2,v1+v2),D); const vfloat<M> UVW = U+V+W; const vfloat<M> eps = float(ulp)*abs(UVW); #if defined(EMBREE_BACKFACE_CULLING) valid &= max(U,V,W) <= eps; #else valid &= (min(U,V,W) >= -eps) | (max(U,V,W) <= eps); #endif if (unlikely(early_out && none(valid))) return false; /* calculate geometry normal and denominator */ const Vec3vf<M> Ng = stable_triangle_normal(e0,e1,e2); const vfloat<M> den = twice(dot(Ng,D)); /* perform depth test */ const vfloat<M> T = twice(dot(v0,Ng)); const vfloat<M> t = rcp(den)*T; valid &= vfloat<M>(ray.tnear()) <= t & t <= vfloat<M>(ray.tfar); valid &= den != vfloat<M>(zero); if (unlikely(early_out && none(valid))) return false; /* update hit information */ new (&hit) PlueckerHitM<M,UVMapper>(valid,U,V,UVW,t,Ng,mapUV); return true; } template<typename UVMapper> __forceinline bool intersectEdge(const vbool<M>& valid, Ray& ray, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const UVMapper& mapUV, PlueckerHitM<M,UVMapper>& hit) const { return intersect(valid,ray,tri_v0,tri_v1,tri_v2,mapUV,hit); } template<typename UVMapper> __forceinline bool intersectEdge(Ray& ray, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const UVMapper& mapUV, PlueckerHitM<M,UVMapper>& hit) const { vbool<M> valid = true; return intersect(valid,ray,tri_v0,tri_v1,tri_v2,mapUV,hit); } template<typename UVMapper> __forceinline bool intersect(Ray& ray, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const UVMapper& mapUV, PlueckerHitM<M,UVMapper>& hit) const { return intersectEdge(ray,tri_v0,tri_v1,tri_v2,mapUV,hit); } template<typename UVMapper, typename Epilog> __forceinline bool intersectEdge(Ray& ray, const Vec3vf<M>& v0, const Vec3vf<M>& e1, const Vec3vf<M>& e2, const UVMapper& mapUV, const Epilog& epilog) const { PlueckerHitM<M,UVMapper> hit(mapUV); if (likely(intersectEdge(ray,v0,e1,e2,mapUV,hit))) return epilog(hit.valid,hit); return false; } template<typename UVMapper, typename Epilog> __forceinline bool intersect(Ray& ray, const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const UVMapper& mapUV, const Epilog& epilog) const { PlueckerHitM<M,UVMapper> hit(mapUV); if (likely(intersect(ray,v0,v1,v2,mapUV,hit))) return epilog(hit.valid,hit); return false; } template<typename Epilog> __forceinline bool intersect(Ray& ray, const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const Epilog& epilog) const { auto mapUV = UVIdentity<M>(); PlueckerHitM<M,UVIdentity<M>> hit(mapUV); if (likely(intersect(ray,v0,v1,v2,mapUV,hit))) return epilog(hit.valid,hit); return false; } template<typename UVMapper, typename Epilog> __forceinline bool intersect(const vbool<M>& valid, Ray& ray, const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const UVMapper& mapUV, const Epilog& epilog) const { PlueckerHitM<M,UVMapper> hit(mapUV); if (likely(intersect(valid,ray,v0,v1,v2,mapUV,hit))) return epilog(hit.valid,hit); return false; } }; template<int K, typename UVMapper> struct PlueckerHitK { __forceinline PlueckerHitK(const UVMapper& mapUV) : mapUV(mapUV) {} __forceinline PlueckerHitK(const vfloat<K>& U, const vfloat<K>& V, const vfloat<K>& UVW, const vfloat<K>& t, const Vec3vf<K>& Ng, const UVMapper& mapUV) : U(U), V(V), UVW(UVW), t(t), Ng(Ng), mapUV(mapUV) {} __forceinline std::tuple<vfloat<K>,vfloat<K>,vfloat<K>,Vec3vf<K>> operator() () const { const vbool<K> invalid = abs(UVW) < min_rcp_input; const vfloat<K> rcpUVW = select(invalid,vfloat<K>(0.0f),rcp(UVW)); vfloat<K> u = min(U * rcpUVW,1.0f); vfloat<K> v = min(V * rcpUVW,1.0f); Vec3vf<K> vNg = Ng; mapUV(u,v,vNg); return std::make_tuple(u,v,t,vNg); } vfloat<K> U; vfloat<K> V; const vfloat<K> UVW; const vfloat<K> t; const Vec3vf<K> Ng; const UVMapper& mapUV; }; template<int M, int K> struct PlueckerIntersectorK { __forceinline PlueckerIntersectorK() {} __forceinline PlueckerIntersectorK(const vbool<K>& valid, const RayK<K>& ray) {} /*! Intersects K rays with one of M triangles. */ template<typename UVMapper> __forceinline vbool<K> intersectK(const vbool<K>& valid0, RayK<K>& ray, const Vec3vf<K>& tri_v0, const Vec3vf<K>& tri_v1, const Vec3vf<K>& tri_v2, const UVMapper& mapUV, PlueckerHitK<K,UVMapper> &hit) const { /* calculate vertices relative to ray origin */ vbool<K> valid = valid0; const Vec3vf<K> O = ray.org; const Vec3vf<K> D = ray.dir; const Vec3vf<K> v0 = tri_v0-O; const Vec3vf<K> v1 = tri_v1-O; const Vec3vf<K> v2 = tri_v2-O; /* calculate triangle edges */ const Vec3vf<K> e0 = v2-v0; const Vec3vf<K> e1 = v0-v1; const Vec3vf<K> e2 = v1-v2; /* perform edge tests */ const vfloat<K> U = dot(Vec3vf<K>(cross(e0,v2+v0)),D); const vfloat<K> V = dot(Vec3vf<K>(cross(e1,v0+v1)),D); const vfloat<K> W = dot(Vec3vf<K>(cross(e2,v1+v2)),D); const vfloat<K> UVW = U+V+W; const vfloat<K> eps = float(ulp)*abs(UVW); #if defined(EMBREE_BACKFACE_CULLING) valid &= max(U,V,W) <= eps; #else valid &= (min(U,V,W) >= -eps) | (max(U,V,W) <= eps); #endif if (unlikely(none(valid))) return valid; /* calculate geometry normal and denominator */ const Vec3vf<K> Ng = stable_triangle_normal(e0,e1,e2); const vfloat<K> den = twice(dot(Vec3vf<K>(Ng),D)); /* perform depth test */ const vfloat<K> T = twice(dot(v0,Vec3vf<K>(Ng))); const vfloat<K> t = rcp(den)*T; valid &= ray.tnear() <= t & t <= ray.tfar; valid &= den != vfloat<K>(zero); if (unlikely(none(valid))) return valid; /* calculate hit information */ new (&hit) PlueckerHitK<K,UVMapper>(U,V,UVW,t,Ng,mapUV); return valid; } template<typename Epilog> __forceinline vbool<K> intersectK(const vbool<K>& valid0, RayK<K>& ray, const Vec3vf<K>& tri_v0, const Vec3vf<K>& tri_v1, const Vec3vf<K>& tri_v2, const Epilog& epilog) const { UVIdentity<K> mapUV; PlueckerHitK<K,UVIdentity<K>> hit(mapUV); const vbool<K> valid = intersectK(valid0,ray,tri_v0,tri_v1,tri_v2,mapUV,hit); return epilog(valid,hit); } template<typename UVMapper, typename Epilog> __forceinline vbool<K> intersectK(const vbool<K>& valid0, RayK<K>& ray, const Vec3vf<K>& tri_v0, const Vec3vf<K>& tri_v1, const Vec3vf<K>& tri_v2, const UVMapper& mapUV, const Epilog& epilog) const { PlueckerHitK<K,UVMapper> hit(mapUV); const vbool<K> valid = intersectK(valid0,ray,tri_v0,tri_v1,tri_v2,mapUV,hit); return epilog(valid,hit); } /*! Intersect k'th ray from ray packet of size K with M triangles. */ template<typename UVMapper> __forceinline bool intersect(RayK<K>& ray, size_t k, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const UVMapper& mapUV, PlueckerHitM<M,UVMapper> &hit) const { /* calculate vertices relative to ray origin */ const Vec3vf<M> O = broadcast<vfloat<M>>(ray.org,k); const Vec3vf<M> D = broadcast<vfloat<M>>(ray.dir,k); const Vec3vf<M> v0 = tri_v0-O; const Vec3vf<M> v1 = tri_v1-O; const Vec3vf<M> v2 = tri_v2-O; /* calculate triangle edges */ const Vec3vf<M> e0 = v2-v0; const Vec3vf<M> e1 = v0-v1; const Vec3vf<M> e2 = v1-v2; /* perform edge tests */ const vfloat<M> U = dot(cross(e0,v2+v0),D); const vfloat<M> V = dot(cross(e1,v0+v1),D); const vfloat<M> W = dot(cross(e2,v1+v2),D); const vfloat<M> UVW = U+V+W; const vfloat<M> eps = float(ulp)*abs(UVW); #if defined(EMBREE_BACKFACE_CULLING) vbool<M> valid = max(U,V,W) <= eps; #else vbool<M> valid = (min(U,V,W) >= -eps) | (max(U,V,W) <= eps); #endif if (unlikely(none(valid))) return false; /* calculate geometry normal and denominator */ const Vec3vf<M> Ng = stable_triangle_normal(e0,e1,e2); const vfloat<M> den = twice(dot(Ng,D)); /* perform depth test */ const vfloat<M> T = twice(dot(v0,Ng)); const vfloat<M> t = rcp(den)*T; valid &= vfloat<M>(ray.tnear()[k]) <= t & t <= vfloat<M>(ray.tfar[k]); if (unlikely(none(valid))) return false; /* avoid division by 0 */ valid &= den != vfloat<M>(zero); if (unlikely(none(valid))) return false; /* update hit information */ new (&hit) PlueckerHitM<M,UVMapper>(valid,U,V,UVW,t,Ng,mapUV); return true; } template<typename UVMapper, typename Epilog> __forceinline bool intersect(RayK<K>& ray, size_t k, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const UVMapper& mapUV, const Epilog& epilog) const { PlueckerHitM<M,UVMapper> hit(mapUV); if (intersect(ray,k,tri_v0,tri_v1,tri_v2,mapUV,hit)) return epilog(hit.valid,hit); return false; } template<typename Epilog> __forceinline bool intersect(RayK<K>& ray, size_t k, const Vec3vf<M>& tri_v0, const Vec3vf<M>& tri_v1, const Vec3vf<M>& tri_v2, const Epilog& epilog) const { UVIdentity<M> mapUV; PlueckerHitM<M,UVIdentity<M>> hit(mapUV); if (intersect(ray,k,tri_v0,tri_v1,tri_v2,mapUV,hit)) return epilog(hit.valid,hit); return false; } }; } }