1// Copyright 2009-2021 Intel Corporation
2// SPDX-License-Identifier: Apache-2.0
3
4#pragma once
5
6#include "math.h"
7
8namespace embree
9{
10 struct Vec3fa;
11
12 ////////////////////////////////////////////////////////////////////////////////
13 /// Generic 3D vector Class
14 ////////////////////////////////////////////////////////////////////////////////
15
16 template<typename T> struct Vec3
17 {
18 enum { N = 3 };
19
20 union {
21 struct {
22 T x, y, z;
23 };
24#if !(defined(__WIN32__) && _MSC_VER == 1800) // workaround for older VS 2013 compiler
25 T components[N];
26#endif
27 };
28
29 typedef T Scalar;
30
31 ////////////////////////////////////////////////////////////////////////////////
32 /// Construction
33 ////////////////////////////////////////////////////////////////////////////////
34
35 __forceinline Vec3( ) {}
36 __forceinline explicit Vec3( const T& a ) : x(a), y(a), z(a) {}
37 __forceinline Vec3( const T& x, const T& y, const T& z ) : x(x), y(y), z(z) {}
38
39 __forceinline Vec3( const Vec3& other ) { x = other.x; y = other.y; z = other.z; }
40 __forceinline Vec3( const Vec3fa& other );
41
42 template<typename T1> __forceinline Vec3( const Vec3<T1>& a ) : x(T(a.x)), y(T(a.y)), z(T(a.z)) {}
43 template<typename T1> __forceinline Vec3& operator =(const Vec3<T1>& other) { x = other.x; y = other.y; z = other.z; return *this; }
44
45 __forceinline Vec3& operator =(const Vec3& other) { x = other.x; y = other.y; z = other.z; return *this; }
46
47 ////////////////////////////////////////////////////////////////////////////////
48 /// Constants
49 ////////////////////////////////////////////////////////////////////////////////
50
51 __forceinline Vec3( ZeroTy ) : x(zero), y(zero), z(zero) {}
52 __forceinline Vec3( OneTy ) : x(one), y(one), z(one) {}
53 __forceinline Vec3( PosInfTy ) : x(pos_inf), y(pos_inf), z(pos_inf) {}
54 __forceinline Vec3( NegInfTy ) : x(neg_inf), y(neg_inf), z(neg_inf) {}
55
56#if defined(__WIN32__) && (_MSC_VER == 1800) // workaround for older VS 2013 compiler
57 __forceinline const T& operator []( const size_t axis ) const { assert(axis < 3); return (&x)[axis]; }
58 __forceinline T& operator []( const size_t axis ) { assert(axis < 3); return (&x)[axis]; }
59#else
60 __forceinline const T& operator [](const size_t axis) const { assert(axis < 3); return components[axis]; }
61 __forceinline T& operator [](const size_t axis) { assert(axis < 3); return components[axis]; }
62#endif
63 };
64
65 ////////////////////////////////////////////////////////////////////////////////
66 /// Unary Operators
67 ////////////////////////////////////////////////////////////////////////////////
68
69 template<typename T> __forceinline Vec3<T> operator +( const Vec3<T>& a ) { return Vec3<T>(+a.x, +a.y, +a.z); }
70 template<typename T> __forceinline Vec3<T> operator -( const Vec3<T>& a ) { return Vec3<T>(-a.x, -a.y, -a.z); }
71 template<typename T> __forceinline Vec3<T> abs ( const Vec3<T>& a ) { return Vec3<T>(abs (a.x), abs (a.y), abs (a.z)); }
72 template<typename T> __forceinline Vec3<T> rcp ( const Vec3<T>& a ) { return Vec3<T>(rcp (a.x), rcp (a.y), rcp (a.z)); }
73 template<typename T> __forceinline Vec3<T> rsqrt ( const Vec3<T>& a ) { return Vec3<T>(rsqrt(a.x), rsqrt(a.y), rsqrt(a.z)); }
74 template<typename T> __forceinline Vec3<T> sqrt ( const Vec3<T>& a ) { return Vec3<T>(sqrt (a.x), sqrt (a.y), sqrt (a.z)); }
75
76 template<typename T> __forceinline Vec3<T> zero_fix( const Vec3<T>& a )
77 {
78 return Vec3<T>(select(abs(a.x)<min_rcp_input,T(min_rcp_input),a.x),
79 select(abs(a.y)<min_rcp_input,T(min_rcp_input),a.y),
80 select(abs(a.z)<min_rcp_input,T(min_rcp_input),a.z));
81 }
82 template<typename T> __forceinline Vec3<T> rcp_safe(const Vec3<T>& a) { return rcp(zero_fix(a)); }
83
84 ////////////////////////////////////////////////////////////////////////////////
85 /// Binary Operators
86 ////////////////////////////////////////////////////////////////////////////////
87
88 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); }
89 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); }
90 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); }
91 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); }
92 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 ); }
93 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 ); }
94 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); }
95 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); }
96
97 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)); }
98 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)); }
99
100 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); }
101 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); }
102
103 ////////////////////////////////////////////////////////////////////////////////
104 /// Ternary Operators
105 ////////////////////////////////////////////////////////////////////////////////
106
107 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)); }
108 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)); }
109 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));}
110 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)); }
111
112 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)); }
113 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)); }
114 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));}
115 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)); }
116
117 ////////////////////////////////////////////////////////////////////////////////
118 /// Assignment Operators
119 ////////////////////////////////////////////////////////////////////////////////
120
121 template<typename T> __forceinline Vec3<T>& operator +=( Vec3<T>& a, const T b ) { a.x += b; a.y += b; a.z += b; return a; }
122 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; }
123 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; }
124 template<typename T> __forceinline Vec3<T>& operator *=( Vec3<T>& a, const T& b ) { a.x *= b ; a.y *= b ; a.z *= b ; return a; }
125 template<typename T> __forceinline Vec3<T>& operator /=( Vec3<T>& a, const T& b ) { a.x /= b ; a.y /= b ; a.z /= b ; return a; }
126
127 ////////////////////////////////////////////////////////////////////////////////
128 /// Reduction Operators
129 ////////////////////////////////////////////////////////////////////////////////
130
131 template<typename T> __forceinline T reduce_add( const Vec3<T>& a ) { return a.x + a.y + a.z; }
132 template<typename T> __forceinline T reduce_mul( const Vec3<T>& a ) { return a.x * a.y * a.z; }
133 template<typename T> __forceinline T reduce_min( const Vec3<T>& a ) { return min(a.x, a.y, a.z); }
134 template<typename T> __forceinline T reduce_max( const Vec3<T>& a ) { return max(a.x, a.y, a.z); }
135
136 ////////////////////////////////////////////////////////////////////////////////
137 /// Comparison Operators
138 ////////////////////////////////////////////////////////////////////////////////
139
140 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; }
141 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; }
142 template<typename T> __forceinline bool operator < ( const Vec3<T>& a, const Vec3<T>& b ) {
143 if (a.x != b.x) return a.x < b.x;
144 if (a.y != b.y) return a.y < b.y;
145 if (a.z != b.z) return a.z < b.z;
146 return false;
147 }
148
149 ////////////////////////////////////////////////////////////////////////////////
150 /// Shift Operators
151 ////////////////////////////////////////////////////////////////////////////////
152
153 template<typename T> __forceinline Vec3<T> shift_right_1( const Vec3<T>& a ) {
154 return Vec3<T>(shift_right_1(a.x),shift_right_1(a.y),shift_right_1(a.z));
155 }
156
157 ////////////////////////////////////////////////////////////////////////////////
158 /// Select
159 ////////////////////////////////////////////////////////////////////////////////
160
161 template<typename T> __forceinline Vec3<T> select ( bool s, const Vec3<T>& t, const Vec3<T>& f ) {
162 return Vec3<T>(select(s,t.x,f.x),select(s,t.y,f.y),select(s,t.z,f.z));
163 }
164
165 template<typename T> __forceinline Vec3<T> select ( const Vec3<bool>& s, const Vec3<T>& t, const Vec3<T>& f ) {
166 return Vec3<T>(select(s.x,t.x,f.x),select(s.y,t.y,f.y),select(s.z,t.z,f.z));
167 }
168
169 template<typename T> __forceinline Vec3<T> select ( const typename T::Bool& s, const Vec3<T>& t, const Vec3<T>& f ) {
170 return Vec3<T>(select(s,t.x,f.x),select(s,t.y,f.y),select(s,t.z,f.z));
171 }
172
173 template<typename T>
174 __forceinline Vec3<T> lerp(const Vec3<T>& v0, const Vec3<T>& v1, const T& t) {
175 return madd(Vec3<T>(T(1.0f)-t),v0,t*v1);
176 }
177
178 template<typename T> __forceinline int maxDim ( const Vec3<T>& a )
179 {
180 const Vec3<T> b = abs(a);
181 if (b.x > b.y) {
182 if (b.x > b.z) return 0; else return 2;
183 } else {
184 if (b.y > b.z) return 1; else return 2;
185 }
186 }
187
188 ////////////////////////////////////////////////////////////////////////////////
189 /// Comparison Operators
190 ////////////////////////////////////////////////////////////////////////////////
191
192 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); }
193 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); }
194 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); }
195 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); }
196 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); }
197 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); }
198
199 ////////////////////////////////////////////////////////////////////////////////
200 /// Euclidian Space Operators
201 ////////////////////////////////////////////////////////////////////////////////
202
203 template<typename T> __forceinline T sqr ( const Vec3<T>& a ) { return dot(a,a); }
204 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)); }
205 template<typename T> __forceinline T length ( const Vec3<T>& a ) { return sqrt(sqr(a)); }
206 template<typename T> __forceinline T rcp_length( const Vec3<T>& a ) { return rsqrt(sqr(a)); }
207 template<typename T> __forceinline Vec3<T> normalize( const Vec3<T>& a ) { return a*rsqrt(sqr(a)); }
208 template<typename T> __forceinline T distance ( const Vec3<T>& a, const Vec3<T>& b ) { return length(a-b); }
209 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)); }
210
211 template<typename T> __forceinline Vec3<T> stable_triangle_normal( const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c )
212 {
213 const T ab_x = a.z*b.y, ab_y = a.x*b.z, ab_z = a.y*b.x;
214 const T bc_x = b.z*c.y, bc_y = b.x*c.z, bc_z = b.y*c.x;
215 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));
216 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));
217 const auto sx = abs(ab_x) < abs(bc_x);
218 const auto sy = abs(ab_y) < abs(bc_y);
219 const auto sz = abs(ab_z) < abs(bc_z);
220 return Vec3<T>(select(sx,cross_ab.x,cross_bc.x),
221 select(sy,cross_ab.y,cross_bc.y),
222 select(sz,cross_ab.z,cross_bc.z));
223 }
224
225 template<typename T> __forceinline T sum ( const Vec3<T>& a ) { return a.x+a.y+a.z; }
226
227 template<typename T> __forceinline T halfArea ( const Vec3<T>& d ) { return madd(d.x,(d.y+d.z),d.y*d.z); }
228 template<typename T> __forceinline T area ( const Vec3<T>& d ) { return 2.0f*halfArea(d); }
229
230 template<typename T> __forceinline Vec3<T> normalize_safe( const Vec3<T>& a ) {
231 const T d = dot(a,a); return select(d == T( zero ), a , a*rsqrt(d) );
232 }
233
234 template<typename T> __forceinline T sqr_point_to_line_distance(const Vec3<T>& P, const Vec3<T>& Q0, const Vec3<T>& Q1)
235 {
236 const Vec3<T> N = cross(P-Q0,Q1-Q0);
237 const Vec3<T> D = Q1-Q0;
238 return dot(N,N)*rcp(dot(D,D));
239 }
240
241 template<typename T> __forceinline T sqr_point_to_line_distance(const Vec3<T>& PmQ0, const Vec3<T>& Q1mQ0)
242 {
243 const Vec3<T> N = cross(PmQ0,Q1mQ0);
244 const Vec3<T> D = Q1mQ0;
245 return dot(N,N)*rcp(dot(D,D));
246 }
247
248 ////////////////////////////////////////////////////////////////////////////////
249 /// Output Operators
250 ////////////////////////////////////////////////////////////////////////////////
251
252 template<typename T> __forceinline embree_ostream operator<<(embree_ostream cout, const Vec3<T>& a) {
253 return cout << "(" << a.x << ", " << a.y << ", " << a.z << ")";
254 }
255
256 typedef Vec3<bool > Vec3b;
257 typedef Vec3<int > Vec3i;
258 typedef Vec3<float> Vec3f;
259}
260
261#include "vec3ba.h"
262#include "vec3ia.h"
263#include "vec3fa.h"
264
265////////////////////////////////////////////////////////////////////////////////
266/// SSE / AVX / MIC specializations
267////////////////////////////////////////////////////////////////////////////////
268
269#if defined __SSE__
270#include "../simd/sse.h"
271#endif
272
273#if defined __AVX__
274#include "../simd/avx.h"
275#endif
276
277#if defined(__AVX512F__)
278#include "../simd/avx512.h"
279#endif
280
281namespace embree
282{
283 template<typename Out, typename In>
284 __forceinline Vec3<Out> broadcast(const Vec3<In>& a, const size_t k) {
285 return Vec3<Out>(Out(a.x[k]), Out(a.y[k]), Out(a.z[k]));
286 }
287
288 template<> __forceinline Vec3<float>::Vec3(const Vec3fa& a) { x = a.x; y = a.y; z = a.z; }
289
290#if defined(__AVX__)
291 template<> __forceinline Vec3<vfloat4>::Vec3(const Vec3fa& a) {
292 x = a.x; y = a.y; z = a.z;
293 }
294#elif defined(__SSE__)
295 template<>
296 __forceinline Vec3<vfloat4>::Vec3(const Vec3fa& a) {
297 const vfloat4 v = vfloat4(a.m128); x = shuffle<0,0,0,0>(v); y = shuffle<1,1,1,1>(v); z = shuffle<2,2,2,2>(v);
298 }
299#endif
300
301#if defined(__SSE__)
302 template<>
303 __forceinline Vec3<vfloat4> broadcast<vfloat4,vfloat4>(const Vec3<vfloat4>& a, const size_t k) {
304 return Vec3<vfloat4>(vfloat4::broadcast(a: &a.x[k]), vfloat4::broadcast(a: &a.y[k]), vfloat4::broadcast(a: &a.z[k]));
305 }
306
307 template<int i0, int i1, int i2, int i3>
308 __forceinline Vec3<vfloat4> shuffle(const Vec3<vfloat4>& b) {
309 return Vec3<vfloat4>(shuffle<i0,i1,i2,i3>(b.x), shuffle<i0,i1,i2,i3>(b.y), shuffle<i0,i1,i2,i3>(b.z));
310 }
311#endif
312
313#if defined(__AVX__)
314 template<>
315 __forceinline Vec3<vfloat8>::Vec3(const Vec3fa& a) {
316 x = a.x; y = a.y; z = a.z;
317 }
318
319 template<>
320 __forceinline Vec3<vfloat8> broadcast<vfloat8,vfloat4>(const Vec3<vfloat4>& a, const size_t k) {
321 return Vec3<vfloat8>(vfloat8::broadcast(&a.x[k]), vfloat8::broadcast(&a.y[k]), vfloat8::broadcast(&a.z[k]));
322 }
323 template<>
324 __forceinline Vec3<vfloat8> broadcast<vfloat8,vfloat8>(const Vec3<vfloat8>& a, const size_t k) {
325 return Vec3<vfloat8>(vfloat8::broadcast(&a.x[k]), vfloat8::broadcast(&a.y[k]), vfloat8::broadcast(&a.z[k]));
326 }
327
328 template<int i0, int i1, int i2, int i3>
329 __forceinline Vec3<vfloat8> shuffle(const Vec3<vfloat8>& b) {
330 return Vec3<vfloat8>(shuffle<i0,i1,i2,i3>(b.x), shuffle<i0,i1,i2,i3>(b.y), shuffle<i0,i1,i2,i3>(b.z));
331 }
332#endif
333
334#if defined(__AVX512F__)
335 template<> __forceinline Vec3<vfloat16>::Vec3(const Vec3fa& a) : x(a.x), y(a.y), z(a.z) {}
336#endif
337}
338

source code of qtquick3d/src/3rdparty/embree/common/math/vec3.h