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// Copyright 2009-2021 Intel Corporation
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include "quad_intersector_moeller.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>
struct QuadHitPlueckerM
{
__forceinline QuadHitPlueckerM() {}
__forceinline QuadHitPlueckerM(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 vbool<M>& flags)
: U(U), V(V), UVW(UVW), tri_Ng(Ng), valid(valid), vt(t), flags(flags) {}
__forceinline void finalize()
{
const vbool<M> invalid = abs(UVW) < min_rcp_input;
const vfloat<M> rcpUVW = select(invalid,vfloat<M>(0.0f),rcp(UVW));
const vfloat<M> u = min(U * rcpUVW,1.0f);
const vfloat<M> v = min(V * rcpUVW,1.0f);
const vfloat<M> u1 = vfloat<M>(1.0f) - u;
const vfloat<M> v1 = vfloat<M>(1.0f) - v;
#if !defined(__AVX__) || defined(EMBREE_BACKFACE_CULLING)
vu = select(flags,u1,u);
vv = select(flags,v1,v);
vNg = Vec3vf<M>(tri_Ng.x,tri_Ng.y,tri_Ng.z);
#else
const vfloat<M> flip = select(flags,vfloat<M>(-1.0f),vfloat<M>(1.0f));
vv = select(flags,u1,v);
vu = select(flags,v1,u);
vNg = Vec3vf<M>(flip*tri_Ng.x,flip*tri_Ng.y,flip*tri_Ng.z);
#endif
}
__forceinline Vec2f uv(const size_t i)
{
const float u = vu[i];
const float v = vv[i];
return Vec2f(u,v);
}
__forceinline float t(const size_t i) { return vt[i]; }
__forceinline Vec3fa Ng(const size_t i) { return Vec3fa(vNg.x[i],vNg.y[i],vNg.z[i]); }
private:
vfloat<M> U;
vfloat<M> V;
vfloat<M> UVW;
Vec3vf<M> tri_Ng;
public:
vbool<M> valid;
vfloat<M> vu;
vfloat<M> vv;
vfloat<M> vt;
Vec3vf<M> vNg;
public:
const vbool<M> flags;
};
template<int K>
struct QuadHitPlueckerK
{
__forceinline QuadHitPlueckerK(const vfloat<K>& U,
const vfloat<K>& V,
const vfloat<K>& UVW,
const vfloat<K>& t,
const Vec3vf<K>& Ng,
const vbool<K>& flags)
: U(U), V(V), UVW(UVW), t(t), flags(flags), tri_Ng(Ng) {}
__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));
const vfloat<K> u0 = min(U * rcpUVW,1.0f);
const vfloat<K> v0 = min(V * rcpUVW,1.0f);
const vfloat<K> u1 = vfloat<K>(1.0f) - u0;
const vfloat<K> v1 = vfloat<K>(1.0f) - v0;
const vfloat<K> u = select(flags,u1,u0);
const vfloat<K> v = select(flags,v1,v0);
const Vec3vf<K> Ng(tri_Ng.x,tri_Ng.y,tri_Ng.z);
return std::make_tuple(u,v,t,Ng);
}
private:
const vfloat<K> U;
const vfloat<K> V;
const vfloat<K> UVW;
const vfloat<K> t;
const vbool<K> flags;
const Vec3vf<K> tri_Ng;
};
struct PlueckerIntersectorTriangle1
{
template<int M, typename Epilog>
static __forceinline bool intersect(Ray& ray,
const Vec3vf<M>& tri_v0,
const Vec3vf<M>& tri_v1,
const Vec3vf<M>& tri_v2,
const vbool<M>& flags,
const Epilog& epilog)
{
/* 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)
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()) <= t & t <= vfloat<M>(ray.tfar);
valid &= den != vfloat<M>(zero);
if (unlikely(none(valid))) return false;
/* update hit information */
QuadHitPlueckerM<M> hit(valid,U,V,UVW,t,Ng,flags);
return epilog(valid,hit);
}
};
/*! Intersects M quads with 1 ray */
template<int M, bool filter>
struct QuadMIntersector1Pluecker
{
__forceinline QuadMIntersector1Pluecker() {}
__forceinline QuadMIntersector1Pluecker(const Ray& ray, const void* ptr) {}
__forceinline void intersect(RayHit& ray, RayQueryContext* context,
const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const Vec3vf<M>& v3,
const vuint<M>& geomID, const vuint<M>& primID) const
{
Intersect1EpilogM<M,filter> epilog(ray,context,geomID,primID);
PlueckerIntersectorTriangle1::intersect<M>(ray,v0,v1,v3,vbool<M>(false),epilog);
PlueckerIntersectorTriangle1::intersect<M>(ray,v2,v3,v1,vbool<M>(true),epilog);
}
__forceinline bool occluded(Ray& ray, RayQueryContext* context,
const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const Vec3vf<M>& v3,
const vuint<M>& geomID, const vuint<M>& primID) const
{
Occluded1EpilogM<M,filter> epilog(ray,context,geomID,primID);
if (PlueckerIntersectorTriangle1::intersect<M>(ray,v0,v1,v3,vbool<M>(false),epilog)) return true;
if (PlueckerIntersectorTriangle1::intersect<M>(ray,v2,v3,v1,vbool<M>(true ),epilog)) return true;
return false;
}
};
#if defined(__AVX__)
/*! Intersects 4 quads with 1 ray using AVX */
template<bool filter>
struct QuadMIntersector1Pluecker<4,filter>
{
__forceinline QuadMIntersector1Pluecker() {}
__forceinline QuadMIntersector1Pluecker(const Ray& ray, const void* ptr) {}
template<typename Epilog>
__forceinline bool intersect(Ray& ray, const Vec3vf4& v0, const Vec3vf4& v1, const Vec3vf4& v2, const Vec3vf4& v3, const Epilog& epilog) const
{
const Vec3vf8 vtx0(vfloat8(v0.x,v2.x),vfloat8(v0.y,v2.y),vfloat8(v0.z,v2.z));
#if !defined(EMBREE_BACKFACE_CULLING)
const Vec3vf8 vtx1(vfloat8(v1.x),vfloat8(v1.y),vfloat8(v1.z));
const Vec3vf8 vtx2(vfloat8(v3.x),vfloat8(v3.y),vfloat8(v3.z));
#else
const Vec3vf8 vtx1(vfloat8(v1.x,v3.x),vfloat8(v1.y,v3.y),vfloat8(v1.z,v3.z));
const Vec3vf8 vtx2(vfloat8(v3.x,v1.x),vfloat8(v3.y,v1.y),vfloat8(v3.z,v1.z));
#endif
const vbool8 flags(0,0,0,0,1,1,1,1);
return PlueckerIntersectorTriangle1::intersect<8>(ray,vtx0,vtx1,vtx2,flags,epilog);
}
__forceinline bool intersect(RayHit& ray, RayQueryContext* context, const Vec3vf4& v0, const Vec3vf4& v1, const Vec3vf4& v2, const Vec3vf4& v3,
const vuint4& geomID, const vuint4& primID) const
{
return intersect(ray,v0,v1,v2,v3,Intersect1EpilogM<8,filter>(ray,context,vuint8(geomID),vuint8(primID)));
}
__forceinline bool occluded(Ray& ray, RayQueryContext* context, const Vec3vf4& v0, const Vec3vf4& v1, const Vec3vf4& v2, const Vec3vf4& v3,
const vuint4& geomID, const vuint4& primID) const
{
return intersect(ray,v0,v1,v2,v3,Occluded1EpilogM<8,filter>(ray,context,vuint8(geomID),vuint8(primID)));
}
};
#endif
/* ----------------------------- */
/* -- ray packet intersectors -- */
/* ----------------------------- */
struct PlueckerIntersector1KTriangleM
{
/*! Intersect k'th ray from ray packet of size K with M triangles. */
template<int M, int K, typename Epilog>
static __forceinline bool intersect1(RayK<K>& ray,
size_t k,
const Vec3vf<M>& tri_v0,
const Vec3vf<M>& tri_v1,
const Vec3vf<M>& tri_v2,
const vbool<M>& flags,
const Epilog& epilog)
{
/* 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 */
QuadHitPlueckerM<M> hit(valid,U,V,UVW,t,Ng,flags);
return epilog(valid,hit);
}
};
template<int M, int K, bool filter>
struct QuadMIntersectorKPlueckerBase
{
__forceinline QuadMIntersectorKPlueckerBase(const vbool<K>& valid, const RayK<K>& ray) {}
/*! Intersects K rays with one of M triangles. */
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 vbool<K>& flags,
const Epilog& epilog) 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 false;
/* 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 false;
/* calculate hit information */
QuadHitPlueckerK<K> hit(U,V,UVW,t,Ng,flags);
return epilog(valid,hit);
}
/*! Intersects K rays with one of M quads. */
template<typename Epilog>
__forceinline bool intersectK(const vbool<K>& valid0,
RayK<K>& ray,
const Vec3vf<K>& v0,
const Vec3vf<K>& v1,
const Vec3vf<K>& v2,
const Vec3vf<K>& v3,
const Epilog& epilog) const
{
intersectK(valid0,ray,v0,v1,v3,vbool<K>(false),epilog);
if (none(valid0)) return true;
intersectK(valid0,ray,v2,v3,v1,vbool<K>(true ),epilog);
return none(valid0);
}
};
template<int M, int K, bool filter>
struct QuadMIntersectorKPluecker : public QuadMIntersectorKPlueckerBase<M,K,filter>
{
__forceinline QuadMIntersectorKPluecker(const vbool<K>& valid, const RayK<K>& ray)
: QuadMIntersectorKPlueckerBase<M,K,filter>(valid,ray) {}
__forceinline void intersect1(RayHitK<K>& ray, size_t k, RayQueryContext* context,
const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const Vec3vf<M>& v3,
const vuint<M>& geomID, const vuint<M>& primID) const
{
Intersect1KEpilogM<M,K,filter> epilog(ray,k,context,geomID,primID);
PlueckerIntersector1KTriangleM::intersect1<M,K>(ray,k,v0,v1,v3,vbool<M>(false),epilog);
PlueckerIntersector1KTriangleM::intersect1<M,K>(ray,k,v2,v3,v1,vbool<M>(true ),epilog);
}
__forceinline bool occluded1(RayK<K>& ray, size_t k, RayQueryContext* context,
const Vec3vf<M>& v0, const Vec3vf<M>& v1, const Vec3vf<M>& v2, const Vec3vf<M>& v3,
const vuint<M>& geomID, const vuint<M>& primID) const
{
Occluded1KEpilogM<M,K,filter> epilog(ray,k,context,geomID,primID);
if (PlueckerIntersector1KTriangleM::intersect1<M,K>(ray,k,v0,v1,v3,vbool<M>(false),epilog)) return true;
if (PlueckerIntersector1KTriangleM::intersect1<M,K>(ray,k,v2,v3,v1,vbool<M>(true ),epilog)) return true;
return false;
}
};
#if defined(__AVX__)
/*! Intersects 4 quads with 1 ray using AVX */
template<int K, bool filter>
struct QuadMIntersectorKPluecker<4,K,filter> : public QuadMIntersectorKPlueckerBase<4,K,filter>
{
__forceinline QuadMIntersectorKPluecker(const vbool<K>& valid, const RayK<K>& ray)
: QuadMIntersectorKPlueckerBase<4,K,filter>(valid,ray) {}
template<typename Epilog>
__forceinline bool intersect1(RayK<K>& ray, size_t k, const Vec3vf4& v0, const Vec3vf4& v1, const Vec3vf4& v2, const Vec3vf4& v3, const Epilog& epilog) const
{
const Vec3vf8 vtx0(vfloat8(v0.x,v2.x),vfloat8(v0.y,v2.y),vfloat8(v0.z,v2.z));
const vbool8 flags(0,0,0,0,1,1,1,1);
#if !defined(EMBREE_BACKFACE_CULLING)
const Vec3vf8 vtx1(vfloat8(v1.x),vfloat8(v1.y),vfloat8(v1.z));
const Vec3vf8 vtx2(vfloat8(v3.x),vfloat8(v3.y),vfloat8(v3.z));
#else
const Vec3vf8 vtx1(vfloat8(v1.x,v3.x),vfloat8(v1.y,v3.y),vfloat8(v1.z,v3.z));
const Vec3vf8 vtx2(vfloat8(v3.x,v1.x),vfloat8(v3.y,v1.y),vfloat8(v3.z,v1.z));
#endif
return PlueckerIntersector1KTriangleM::intersect1<8,K>(ray,k,vtx0,vtx1,vtx2,flags,epilog);
}
__forceinline bool intersect1(RayHitK<K>& ray, size_t k, RayQueryContext* context,
const Vec3vf4& v0, const Vec3vf4& v1, const Vec3vf4& v2, const Vec3vf4& v3,
const vuint4& geomID, const vuint4& primID) const
{
return intersect1(ray,k,v0,v1,v2,v3,Intersect1KEpilogM<8,K,filter>(ray,k,context,vuint8(geomID),vuint8(primID)));
}
__forceinline bool occluded1(RayK<K>& ray, size_t k, RayQueryContext* context,
const Vec3vf4& v0, const Vec3vf4& v1, const Vec3vf4& v2, const Vec3vf4& v3,
const vuint4& geomID, const vuint4& primID) const
{
return intersect1(ray,k,v0,v1,v2,v3,Occluded1KEpilogM<8,K,filter>(ray,k,context,vuint8(geomID),vuint8(primID)));
}
};
#endif
}
}
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