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//
// 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<class T>
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<const 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(reinterpret_cast<const float*>(&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
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