// // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // * Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // * Neither the name of NVIDIA CORPORATION nor the names of its // contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. #ifndef GU_BV4_BOX_BOX_OVERLAP_TEST_H #define GU_BV4_BOX_BOX_OVERLAP_TEST_H #if PX_INTEL_FAMILY #ifndef GU_BV4_USE_SLABS PX_FORCE_INLINE Ps::IntBool BV4_BoxBoxOverlap(const PxVec3& extents, const PxVec3& center, const OBBTestParams* PX_RESTRICT params) { const PxU32 maskI = 0x7fffffff; const Vec4V extentsV = V4LoadU(&extents.x); const Vec4V TV = V4Sub(V4LoadA_Safe(¶ms->mTBoxToModel_PaddedAligned.x), V4LoadU(¢er.x)); { __m128 absTV = _mm_and_ps(TV, _mm_load1_ps((float*)&maskI)); absTV = _mm_cmpgt_ps(absTV, V4Add(extentsV, V4LoadA_Safe(¶ms->mBB_PaddedAligned.x))); const PxU32 test = (PxU32)_mm_movemask_ps(absTV); if(test&7) return 0; } __m128 tV; { const __m128 T_YZX_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(TV), _MM_SHUFFLE(3,0,2,1))); const __m128 T_ZXY_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(TV), _MM_SHUFFLE(3,1,0,2))); tV = V4Mul(TV, V4LoadA_Safe(¶ms->mPreca0_PaddedAligned.x)); tV = V4Add(tV, V4Mul(T_YZX_V, V4LoadA_Safe(¶ms->mPreca1_PaddedAligned.x))); tV = V4Add(tV, V4Mul(T_ZXY_V, V4LoadA_Safe(¶ms->mPreca2_PaddedAligned.x))); } __m128 t2V; { const __m128 extents_YZX_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(extentsV), _MM_SHUFFLE(3,0,2,1))); const __m128 extents_ZXY_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(extentsV), _MM_SHUFFLE(3,1,0,2))); t2V = V4Mul(extentsV, V4LoadA_Safe(¶ms->mPreca0b_PaddedAligned.x)); t2V = V4Add(t2V, V4Mul(extents_YZX_V, V4LoadA_Safe(¶ms->mPreca1b_PaddedAligned.x))); t2V = V4Add(t2V, V4Mul(extents_ZXY_V, V4LoadA_Safe(¶ms->mPreca2b_PaddedAligned.x))); t2V = V4Add(t2V, V4LoadA_Safe(¶ms->mBoxExtents_PaddedAligned.x)); } { __m128 abstV = _mm_and_ps(tV, _mm_load1_ps((float*)&maskI)); abstV = _mm_cmpgt_ps(abstV, t2V); const PxU32 test = (PxU32)_mm_movemask_ps(abstV); if(test&7) return 0; } return 1; } #ifdef GU_BV4_QUANTIZED_TREE template PX_FORCE_INLINE Ps::IntBool BV4_BoxBoxOverlap(const T* PX_RESTRICT node, const OBBTestParams* PX_RESTRICT params) { #define NEW_VERSION #ifdef NEW_VERSION SSE_CONST4(maskV, 0x7fffffff); SSE_CONST4(maskQV, 0x0000ffff); #else const PxU32 maskI = 0x7fffffff; #endif Vec4V centerV = V4LoadA((float*)node->mAABB.mData); #ifdef NEW_VERSION __m128 extentsV = _mm_castsi128_ps(_mm_and_si128(_mm_castps_si128(centerV), SSE_CONST(maskQV))); #else __m128 extentsV = _mm_castsi128_ps(_mm_and_si128(_mm_castps_si128(centerV), _mm_set1_epi32(0x0000ffff))); #endif extentsV = V4Mul(_mm_cvtepi32_ps(_mm_castps_si128(extentsV)), V4LoadA_Safe(¶ms->mExtentsOrMaxCoeff_PaddedAligned.x)); centerV = _mm_castsi128_ps(_mm_srai_epi32(_mm_castps_si128(centerV), 16)); centerV = V4Mul(_mm_cvtepi32_ps(_mm_castps_si128(centerV)), V4LoadA_Safe(¶ms->mCenterOrMinCoeff_PaddedAligned.x)); const Vec4V TV = V4Sub(V4LoadA_Safe(¶ms->mTBoxToModel_PaddedAligned.x), centerV); { #ifdef NEW_VERSION __m128 absTV = _mm_and_ps(TV, SSE_CONSTF(maskV)); #else __m128 absTV = _mm_and_ps(TV, _mm_load1_ps((float*)&maskI)); #endif absTV = _mm_cmpgt_ps(absTV, V4Add(extentsV, V4LoadA_Safe(¶ms->mBB_PaddedAligned.x))); const PxU32 test = (PxU32)_mm_movemask_ps(absTV); if(test&7) return 0; } __m128 tV; { const __m128 T_YZX_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(TV), _MM_SHUFFLE(3,0,2,1))); const __m128 T_ZXY_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(TV), _MM_SHUFFLE(3,1,0,2))); tV = V4Mul(TV, V4LoadA_Safe(¶ms->mPreca0_PaddedAligned.x)); tV = V4Add(tV, V4Mul(T_YZX_V, V4LoadA_Safe(¶ms->mPreca1_PaddedAligned.x))); tV = V4Add(tV, V4Mul(T_ZXY_V, V4LoadA_Safe(¶ms->mPreca2_PaddedAligned.x))); } __m128 t2V; { const __m128 extents_YZX_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(extentsV), _MM_SHUFFLE(3,0,2,1))); const __m128 extents_ZXY_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(extentsV), _MM_SHUFFLE(3,1,0,2))); t2V = V4Mul(extentsV, V4LoadA_Safe(¶ms->mPreca0b_PaddedAligned.x)); t2V = V4Add(t2V, V4Mul(extents_YZX_V, V4LoadA_Safe(¶ms->mPreca1b_PaddedAligned.x))); t2V = V4Add(t2V, V4Mul(extents_ZXY_V, V4LoadA_Safe(¶ms->mPreca2b_PaddedAligned.x))); t2V = V4Add(t2V, V4LoadA_Safe(¶ms->mBoxExtents_PaddedAligned.x)); } { #ifdef NEW_VERSION __m128 abstV = _mm_and_ps(tV, SSE_CONSTF(maskV)); #else __m128 abstV = _mm_and_ps(tV, _mm_load1_ps((float*)&maskI)); #endif abstV = _mm_cmpgt_ps(abstV, t2V); const PxU32 test = (PxU32)_mm_movemask_ps(abstV); if(test&7) return 0; } return 1; } #endif // GU_BV4_QUANTIZED_TREE #endif // GU_BV4_USE_SLABS #ifdef GU_BV4_USE_SLABS PX_FORCE_INLINE Ps::IntBool BV4_BoxBoxOverlap(const __m128 boxCenter, const __m128 extentsV, const OBBTestParams* PX_RESTRICT params) { const PxU32 maskI = 0x7fffffff; const Vec4V TV = V4Sub(V4LoadA_Safe(¶ms->mTBoxToModel_PaddedAligned.x), boxCenter); { __m128 absTV = _mm_and_ps(TV, _mm_load1_ps(reinterpret_cast(&maskI))); absTV = _mm_cmpgt_ps(absTV, V4Add(extentsV, V4LoadA_Safe(¶ms->mBB_PaddedAligned.x))); const PxU32 test = PxU32(_mm_movemask_ps(absTV)); if(test&7) return 0; } __m128 tV; { const __m128 T_YZX_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(TV), _MM_SHUFFLE(3,0,2,1))); const __m128 T_ZXY_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(TV), _MM_SHUFFLE(3,1,0,2))); tV = V4Mul(TV, V4LoadA_Safe(¶ms->mPreca0_PaddedAligned.x)); tV = V4Add(tV, V4Mul(T_YZX_V, V4LoadA_Safe(¶ms->mPreca1_PaddedAligned.x))); tV = V4Add(tV, V4Mul(T_ZXY_V, V4LoadA_Safe(¶ms->mPreca2_PaddedAligned.x))); } __m128 t2V; { const __m128 extents_YZX_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(extentsV), _MM_SHUFFLE(3,0,2,1))); const __m128 extents_ZXY_V = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(extentsV), _MM_SHUFFLE(3,1,0,2))); t2V = V4Mul(extentsV, V4LoadA_Safe(¶ms->mPreca0b_PaddedAligned.x)); t2V = V4Add(t2V, V4Mul(extents_YZX_V, V4LoadA_Safe(¶ms->mPreca1b_PaddedAligned.x))); t2V = V4Add(t2V, V4Mul(extents_ZXY_V, V4LoadA_Safe(¶ms->mPreca2b_PaddedAligned.x))); t2V = V4Add(t2V, V4LoadA_Safe(¶ms->mBoxExtents_PaddedAligned.x)); } { __m128 abstV = _mm_and_ps(tV, _mm_load1_ps(reinterpret_cast(&maskI))); abstV = _mm_cmpgt_ps(abstV, t2V); const PxU32 test = PxU32(_mm_movemask_ps(abstV)); if(test&7) return 0; } return 1; } #endif // GU_BV4_USE_SLABS #endif // PX_INTEL_FAMILY #endif // GU_BV4_BOX_BOX_OVERLAP_TEST_H