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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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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