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// Copyright 2009-2021 Intel Corporation
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include "emath.h"
namespace embree
{
struct Vec3fa;
////////////////////////////////////////////////////////////////////////////////
/// Generic 3D vector Class
////////////////////////////////////////////////////////////////////////////////
template<typename T> struct Vec3
{
enum { N = 3 };
union {
struct {
T x, y, z;
};
T components[N];
};
typedef T Scalar;
////////////////////////////////////////////////////////////////////////////////
/// Construction
////////////////////////////////////////////////////////////////////////////////
__forceinline Vec3( ) {}
__forceinline explicit Vec3( const T& a ) : x(a), y(a), z(a) {}
__forceinline Vec3( const T& x, const T& y, const T& z ) : x(x), y(y), z(z) {}
__forceinline Vec3( const Vec3& other ) { x = other.x; y = other.y; z = other.z; }
__forceinline Vec3( const Vec3fa& other );
template<typename T1> __forceinline Vec3( const Vec3<T1>& a ) : x(T(a.x)), y(T(a.y)), z(T(a.z)) {}
template<typename T1> __forceinline Vec3& operator =(const Vec3<T1>& other) { x = other.x; y = other.y; z = other.z; return *this; }
__forceinline Vec3& operator =(const Vec3& other) { x = other.x; y = other.y; z = other.z; return *this; }
////////////////////////////////////////////////////////////////////////////////
/// Constants
////////////////////////////////////////////////////////////////////////////////
__forceinline Vec3( ZeroTy ) : x(zero), y(zero), z(zero) {}
__forceinline Vec3( OneTy ) : x(one), y(one), z(one) {}
__forceinline Vec3( PosInfTy ) : x(pos_inf), y(pos_inf), z(pos_inf) {}
__forceinline Vec3( NegInfTy ) : x(neg_inf), y(neg_inf), z(neg_inf) {}
__forceinline const T& operator [](const size_t axis) const { assert(axis < 3); return components[axis]; }
__forceinline T& operator [](const size_t axis) { assert(axis < 3); return components[axis]; }
};
////////////////////////////////////////////////////////////////////////////////
/// Unary Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<T> operator +( const Vec3<T>& a ) { return Vec3<T>(+a.x, +a.y, +a.z); }
template<typename T> __forceinline Vec3<T> operator -( const Vec3<T>& a ) { return Vec3<T>(-a.x, -a.y, -a.z); }
template<typename T> __forceinline Vec3<T> abs ( const Vec3<T>& a ) { return Vec3<T>(abs (a.x), abs (a.y), abs (a.z)); }
template<typename T> __forceinline Vec3<T> rcp ( const Vec3<T>& a ) { return Vec3<T>(rcp (a.x), rcp (a.y), rcp (a.z)); }
template<typename T> __forceinline Vec3<T> rsqrt ( const Vec3<T>& a ) { return Vec3<T>(rsqrt(a.x), rsqrt(a.y), rsqrt(a.z)); }
template<typename T> __forceinline Vec3<T> sqrt ( const Vec3<T>& a ) { return Vec3<T>(sqrt (a.x), sqrt (a.y), sqrt (a.z)); }
template<typename T> __forceinline Vec3<T> zero_fix( const Vec3<T>& a )
{
return Vec3<T>(select(abs(a.x)<min_rcp_input,T(min_rcp_input),a.x),
select(abs(a.y)<min_rcp_input,T(min_rcp_input),a.y),
select(abs(a.z)<min_rcp_input,T(min_rcp_input),a.z));
}
template<typename T> __forceinline Vec3<T> rcp_safe(const Vec3<T>& a) { return rcp(zero_fix(a)); }
////////////////////////////////////////////////////////////////////////////////
/// Binary Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<T> operator +( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<T>(a.x + b.x, a.y + b.y, a.z + b.z); }
template<typename T> __forceinline Vec3<T> operator -( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<T>(a.x - b.x, a.y - b.y, a.z - b.z); }
template<typename T> __forceinline Vec3<T> operator *( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<T>(a.x * b.x, a.y * b.y, a.z * b.z); }
template<typename T> __forceinline Vec3<T> operator *( const T& a, const Vec3<T>& b ) { return Vec3<T>(a * b.x, a * b.y, a * b.z); }
template<typename T> __forceinline Vec3<T> operator *( const Vec3<T>& a, const T& b ) { return Vec3<T>(a.x * b , a.y * b , a.z * b ); }
template<typename T> __forceinline Vec3<T> operator /( const Vec3<T>& a, const T& b ) { return Vec3<T>(a.x / b , a.y / b , a.z / b ); }
template<typename T> __forceinline Vec3<T> operator /( const T& a, const Vec3<T>& b ) { return Vec3<T>(a / b.x, a / b.y, a / b.z); }
template<typename T> __forceinline Vec3<T> operator /( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<T>(a.x / b.x, a.y / b.y, a.z / b.z); }
template<typename T> __forceinline Vec3<T> min(const Vec3<T>& a, const Vec3<T>& b) { return Vec3<T>(min(a.x, b.x), min(a.y, b.y), min(a.z, b.z)); }
template<typename T> __forceinline Vec3<T> max(const Vec3<T>& a, const Vec3<T>& b) { return Vec3<T>(max(a.x, b.x), max(a.y, b.y), max(a.z, b.z)); }
template<typename T> __forceinline Vec3<T> operator >>( const Vec3<T>& a, const int b ) { return Vec3<T>(a.x >> b, a.y >> b, a.z >> b); }
template<typename T> __forceinline Vec3<T> operator <<( const Vec3<T>& a, const int b ) { return Vec3<T>(a.x << b, a.y << b, a.z << b); }
////////////////////////////////////////////////////////////////////////////////
/// Ternary Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<T> madd ( const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>( madd(a.x,b.x,c.x), madd(a.y,b.y,c.y), madd(a.z,b.z,c.z)); }
template<typename T> __forceinline Vec3<T> msub ( const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>( msub(a.x,b.x,c.x), msub(a.y,b.y,c.y), msub(a.z,b.z,c.z)); }
template<typename T> __forceinline Vec3<T> nmadd ( const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>(nmadd(a.x,b.x,c.x),nmadd(a.y,b.y,c.y),nmadd(a.z,b.z,c.z));}
template<typename T> __forceinline Vec3<T> nmsub ( const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>(nmsub(a.x,b.x,c.x),nmsub(a.y,b.y,c.y),nmsub(a.z,b.z,c.z)); }
template<typename T> __forceinline Vec3<T> madd ( const T& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>( madd(a,b.x,c.x), madd(a,b.y,c.y), madd(a,b.z,c.z)); }
template<typename T> __forceinline Vec3<T> msub ( const T& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>( msub(a,b.x,c.x), msub(a,b.y,c.y), msub(a,b.z,c.z)); }
template<typename T> __forceinline Vec3<T> nmadd ( const T& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>(nmadd(a,b.x,c.x),nmadd(a,b.y,c.y),nmadd(a,b.z,c.z));}
template<typename T> __forceinline Vec3<T> nmsub ( const T& a, const Vec3<T>& b, const Vec3<T>& c) { return Vec3<T>(nmsub(a,b.x,c.x),nmsub(a,b.y,c.y),nmsub(a,b.z,c.z)); }
////////////////////////////////////////////////////////////////////////////////
/// Assignment Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<T>& operator +=( Vec3<T>& a, const T b ) { a.x += b; a.y += b; a.z += b; return a; }
template<typename T> __forceinline Vec3<T>& operator +=( Vec3<T>& a, const Vec3<T>& b ) { a.x += b.x; a.y += b.y; a.z += b.z; return a; }
template<typename T> __forceinline Vec3<T>& operator -=( Vec3<T>& a, const Vec3<T>& b ) { a.x -= b.x; a.y -= b.y; a.z -= b.z; return a; }
template<typename T> __forceinline Vec3<T>& operator *=( Vec3<T>& a, const T& b ) { a.x *= b ; a.y *= b ; a.z *= b ; return a; }
template<typename T> __forceinline Vec3<T>& operator /=( Vec3<T>& a, const T& b ) { a.x /= b ; a.y /= b ; a.z /= b ; return a; }
////////////////////////////////////////////////////////////////////////////////
/// Reduction Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline T reduce_add( const Vec3<T>& a ) { return a.x + a.y + a.z; }
template<typename T> __forceinline T reduce_mul( const Vec3<T>& a ) { return a.x * a.y * a.z; }
template<typename T> __forceinline T reduce_min( const Vec3<T>& a ) { return min(a.x, a.y, a.z); }
template<typename T> __forceinline T reduce_max( const Vec3<T>& a ) { return max(a.x, a.y, a.z); }
////////////////////////////////////////////////////////////////////////////////
/// Comparison Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline bool operator ==( const Vec3<T>& a, const Vec3<T>& b ) { return a.x == b.x && a.y == b.y && a.z == b.z; }
template<typename T> __forceinline bool operator !=( const Vec3<T>& a, const Vec3<T>& b ) { return a.x != b.x || a.y != b.y || a.z != b.z; }
template<typename T> __forceinline bool operator < ( const Vec3<T>& a, const Vec3<T>& b ) {
if (a.x != b.x) return a.x < b.x;
if (a.y != b.y) return a.y < b.y;
if (a.z != b.z) return a.z < b.z;
return false;
}
////////////////////////////////////////////////////////////////////////////////
/// Shift Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<T> shift_right_1( const Vec3<T>& a ) {
return Vec3<T>(shift_right_1(a.x),shift_right_1(a.y),shift_right_1(a.z));
}
////////////////////////////////////////////////////////////////////////////////
/// Select
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<T> select ( bool s, const Vec3<T>& t, const Vec3<T>& f ) {
return Vec3<T>(select(s,t.x,f.x),select(s,t.y,f.y),select(s,t.z,f.z));
}
template<typename T> __forceinline Vec3<T> select ( const Vec3<bool>& s, const Vec3<T>& t, const Vec3<T>& f ) {
return Vec3<T>(select(s.x,t.x,f.x),select(s.y,t.y,f.y),select(s.z,t.z,f.z));
}
template<typename T> __forceinline Vec3<T> select ( const typename T::Bool& s, const Vec3<T>& t, const Vec3<T>& f ) {
return Vec3<T>(select(s,t.x,f.x),select(s,t.y,f.y),select(s,t.z,f.z));
}
template<typename T>
__forceinline Vec3<T> lerp(const Vec3<T>& v0, const Vec3<T>& v1, const T& t) {
return madd(Vec3<T>(T(1.0f)-t),v0,t*v1);
}
template<typename T> __forceinline int maxDim ( const Vec3<T>& a )
{
const Vec3<T> b = abs(a);
if (b.x > b.y) {
if (b.x > b.z) return 0; else return 2;
} else {
if (b.y > b.z) return 1; else return 2;
}
}
////////////////////////////////////////////////////////////////////////////////
/// Comparison Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline Vec3<bool> eq_mask( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<bool>(a.x==b.x,a.y==b.y,a.z==b.z); }
template<typename T> __forceinline Vec3<bool> neq_mask(const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<bool>(a.x!=b.x,a.y!=b.y,a.z!=b.z); }
template<typename T> __forceinline Vec3<bool> lt_mask( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<bool>(a.x< b.x,a.y< b.y,a.z< b.z); }
template<typename T> __forceinline Vec3<bool> le_mask( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<bool>(a.x<=b.x,a.y<=b.y,a.z<=b.z); }
template<typename T> __forceinline Vec3<bool> gt_mask( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<bool>(a.x> b.x,a.y> b.y,a.z> b.z); }
template<typename T> __forceinline Vec3<bool> ge_mask( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<bool>(a.x>=b.x,a.y>=b.y,a.z>=b.z); }
////////////////////////////////////////////////////////////////////////////////
/// Euclidean Space Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline T sqr ( const Vec3<T>& a ) { return dot(a,a); }
template<typename T> __forceinline T dot ( const Vec3<T>& a, const Vec3<T>& b ) { return madd(a.x,b.x,madd(a.y,b.y,a.z*b.z)); }
template<typename T> __forceinline T length ( const Vec3<T>& a ) { return sqrt(sqr(a)); }
template<typename T> __forceinline T rcp_length( const Vec3<T>& a ) { return rsqrt(sqr(a)); }
template<typename T> __forceinline Vec3<T> normalize( const Vec3<T>& a ) { return a*rsqrt(sqr(a)); }
template<typename T> __forceinline T distance ( const Vec3<T>& a, const Vec3<T>& b ) { return length(a-b); }
template<typename T> __forceinline Vec3<T> cross ( const Vec3<T>& a, const Vec3<T>& b ) { return Vec3<T>(msub(a.y,b.z,a.z*b.y), msub(a.z,b.x,a.x*b.z), msub(a.x,b.y,a.y*b.x)); }
template<typename T> __forceinline Vec3<T> stable_triangle_normal( const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c )
{
const T ab_x = a.z*b.y, ab_y = a.x*b.z, ab_z = a.y*b.x;
const T bc_x = b.z*c.y, bc_y = b.x*c.z, bc_z = b.y*c.x;
const Vec3<T> cross_ab(msub(a.y,b.z,ab_x), msub(a.z,b.x,ab_y), msub(a.x,b.y,ab_z));
const Vec3<T> cross_bc(msub(b.y,c.z,bc_x), msub(b.z,c.x,bc_y), msub(b.x,c.y,bc_z));
const auto sx = abs(ab_x) < abs(bc_x);
const auto sy = abs(ab_y) < abs(bc_y);
const auto sz = abs(ab_z) < abs(bc_z);
return Vec3<T>(select(sx,cross_ab.x,cross_bc.x),
select(sy,cross_ab.y,cross_bc.y),
select(sz,cross_ab.z,cross_bc.z));
}
template<typename T> __forceinline T sum ( const Vec3<T>& a ) { return a.x+a.y+a.z; }
template<typename T> __forceinline T halfArea ( const Vec3<T>& d ) { return madd(d.x,(d.y+d.z),d.y*d.z); }
template<typename T> __forceinline T area ( const Vec3<T>& d ) { return 2.0f*halfArea(d); }
template<typename T> __forceinline Vec3<T> normalize_safe( const Vec3<T>& a ) {
const T d = dot(a,a); return select(d == T( zero ), a , a*rsqrt(d) );
}
template<typename T> __forceinline T sqr_point_to_line_distance(const Vec3<T>& P, const Vec3<T>& Q0, const Vec3<T>& Q1)
{
const Vec3<T> N = cross(P-Q0,Q1-Q0);
const Vec3<T> D = Q1-Q0;
return dot(N,N)*rcp(dot(D,D));
}
template<typename T> __forceinline T sqr_point_to_line_distance(const Vec3<T>& PmQ0, const Vec3<T>& Q1mQ0)
{
const Vec3<T> N = cross(PmQ0,Q1mQ0);
const Vec3<T> D = Q1mQ0;
return dot(N,N)*rcp(dot(D,D));
}
////////////////////////////////////////////////////////////////////////////////
/// Output Operators
////////////////////////////////////////////////////////////////////////////////
template<typename T> __forceinline embree_ostream operator<<(embree_ostream cout, const Vec3<T>& a) {
return cout << "(" << a.x << ", " << a.y << ", " << a.z << ")";
}
typedef Vec3<bool > Vec3b;
typedef Vec3<int > Vec3i;
typedef Vec3<float> Vec3f;
}
#include "vec3ba.h"
#include "vec3ia.h"
#include "vec3fa.h"
#include "../simd/sse.h"
namespace embree
{
template<> __forceinline Vec3<float>::Vec3(const Vec3fa& a) { x = a.x; y = a.y; z = a.z; }
}
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