godot/thirdparty/embree/kernels/geometry/quad_intersector_pluecker.h

// 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
  }
}