77 lines
3.6 KiB
C
77 lines
3.6 KiB
C
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Math/Vec8.h>
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#include <Jolt/Geometry/RayAABox.h>
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JPH_NAMESPACE_BEGIN
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/// Intersect 8 AABBs with ray, returns minimal distance along ray or FLT_MAX if no hit
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/// Note: Can return negative value if ray starts in box
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JPH_INLINE Vec8 RayAABox8(Vec3Arg inOrigin, const RayInvDirection &inInvDirection, Vec8Arg inBoundsMinX, Vec8Arg inBoundsMinY, Vec8Arg inBoundsMinZ, Vec8Arg inBoundsMaxX, Vec8Arg inBoundsMaxY, Vec8Arg inBoundsMaxZ)
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{
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// Constants
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Vec8 flt_min = Vec8::sReplicate(-FLT_MAX);
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Vec8 flt_max = Vec8::sReplicate(FLT_MAX);
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// Origin
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Vec8 originx = Vec8::sSplatX(Vec4(inOrigin));
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Vec8 originy = Vec8::sSplatY(Vec4(inOrigin));
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Vec8 originz = Vec8::sSplatZ(Vec4(inOrigin));
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// Parallel
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UVec8 parallelx = UVec8::sSplatX(inInvDirection.mIsParallel);
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UVec8 parallely = UVec8::sSplatY(inInvDirection.mIsParallel);
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UVec8 parallelz = UVec8::sSplatZ(inInvDirection.mIsParallel);
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// Inverse direction
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Vec8 invdirx = Vec8::sSplatX(Vec4(inInvDirection.mInvDirection));
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Vec8 invdiry = Vec8::sSplatY(Vec4(inInvDirection.mInvDirection));
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Vec8 invdirz = Vec8::sSplatZ(Vec4(inInvDirection.mInvDirection));
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// Test against all three axii simultaneously.
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Vec8 t1x = (inBoundsMinX - originx) * invdirx;
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Vec8 t1y = (inBoundsMinY - originy) * invdiry;
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Vec8 t1z = (inBoundsMinZ - originz) * invdirz;
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Vec8 t2x = (inBoundsMaxX - originx) * invdirx;
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Vec8 t2y = (inBoundsMaxY - originy) * invdiry;
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Vec8 t2z = (inBoundsMaxZ - originz) * invdirz;
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// Compute the max of min(t1,t2) and the min of max(t1,t2) ensuring we don't
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// use the results from any directions parallel to the slab.
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Vec8 t_minx = Vec8::sSelect(Vec8::sMin(t1x, t2x), flt_min, parallelx);
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Vec8 t_miny = Vec8::sSelect(Vec8::sMin(t1y, t2y), flt_min, parallely);
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Vec8 t_minz = Vec8::sSelect(Vec8::sMin(t1z, t2z), flt_min, parallelz);
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Vec8 t_maxx = Vec8::sSelect(Vec8::sMax(t1x, t2x), flt_max, parallelx);
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Vec8 t_maxy = Vec8::sSelect(Vec8::sMax(t1y, t2y), flt_max, parallely);
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Vec8 t_maxz = Vec8::sSelect(Vec8::sMax(t1z, t2z), flt_max, parallelz);
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// t_min.xyz = maximum(t_min.x, t_min.y, t_min.z);
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Vec8 t_min = Vec8::sMax(Vec8::sMax(t_minx, t_miny), t_minz);
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// t_max.xyz = minimum(t_max.x, t_max.y, t_max.z);
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Vec8 t_max = Vec8::sMin(Vec8::sMin(t_maxx, t_maxy), t_maxz);
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// if (t_min > t_max) return FLT_MAX;
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UVec8 no_intersection = Vec8::sGreater(t_min, t_max);
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// if (t_max < 0.0f) return FLT_MAX;
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no_intersection = UVec8::sOr(no_intersection, Vec8::sLess(t_max, Vec8::sZero()));
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// if bounds are invalid return FLOAT_MAX;
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UVec8 bounds_invalid = UVec8::sOr(UVec8::sOr(Vec8::sGreater(inBoundsMinX, inBoundsMaxX), Vec8::sGreater(inBoundsMinY, inBoundsMaxY)), Vec8::sGreater(inBoundsMinZ, inBoundsMaxZ));
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no_intersection = UVec8::sOr(no_intersection, bounds_invalid);
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// if (inInvDirection.mIsParallel && !(Min <= inOrigin && inOrigin <= Max)) return FLT_MAX; else return t_min;
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UVec8 no_parallel_overlapx = UVec8::sAnd(parallelx, UVec8::sOr(Vec8::sLess(originx, inBoundsMinX), Vec8::sGreater(originx, inBoundsMaxX)));
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UVec8 no_parallel_overlapy = UVec8::sAnd(parallely, UVec8::sOr(Vec8::sLess(originy, inBoundsMinY), Vec8::sGreater(originy, inBoundsMaxY)));
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UVec8 no_parallel_overlapz = UVec8::sAnd(parallelz, UVec8::sOr(Vec8::sLess(originz, inBoundsMinZ), Vec8::sGreater(originz, inBoundsMaxZ)));
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no_intersection = UVec8::sOr(no_intersection, UVec8::sOr(UVec8::sOr(no_parallel_overlapx, no_parallel_overlapy), no_parallel_overlapz));
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return Vec8::sSelect(t_min, flt_max, no_intersection);
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}
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JPH_NAMESPACE_END
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