242 lines
12 KiB
C
242 lines
12 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** \author Jia Pan */
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#ifndef FCL_MULTIPLE_INTERSECT
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#define FCL_MULTIPLE_INTERSECT
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#include <xmmintrin.h>
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#include <pmmintrin.h>
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namespace fcl
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{
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static inline __m128 sse_four_spheres_intersect(const Vector3d& o1, FCL_REAL r1,
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const Vector3d& o2, FCL_REAL r2,
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const Vector3d& o3, FCL_REAL r3,
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const Vector3d& o4, FCL_REAL r4,
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const Vector3d& o5, FCL_REAL r5,
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const Vector3d& o6, FCL_REAL r6,
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const Vector3d& o7, FCL_REAL r7,
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const Vector3d& o8, FCL_REAL r8)
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{
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__m128 PX, PY, PZ, PR, QX, QY, QZ, QR;
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PX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]);
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PY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]);
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PZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]);
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PR = _mm_set_ps(r1, r2, r3, r4);
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QX = _mm_set_ps(o5[0], o6[0], o7[0], o8[0]);
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QY = _mm_set_ps(o5[1], o6[1], o7[1], o8[1]);
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QZ = _mm_set_ps(o5[2], o6[2], o7[2], o8[2]);
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QR = _mm_set_ps(r5, r6, r7, r8);
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__m128 T1 = _mm_sub_ps(PX, QX);
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__m128 T2 = _mm_sub_ps(PY, QY);
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__m128 T3 = _mm_sub_ps(PZ, QZ);
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__m128 T4 = _mm_add_ps(PR, QR);
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T1 = _mm_mul_ps(T1, T1);
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T2 = _mm_mul_ps(T2, T2);
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T3 = _mm_mul_ps(T3, T3);
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T4 = _mm_mul_ps(T4, T4);
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T1 = _mm_add_ps(T1, T2);
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T2 = _mm_sub_ps(R2, T3);
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return _mm_cmple_ps(T1, T2);
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}
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static inline __m128 sse_four_spheres_four_AABBs_intersect(const Vector3d& o1, FCL_REAL r1,
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const Vector3d& o2, FCL_REAL r2,
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const Vector3d& o3, FCL_REAL r3,
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const Vector3d& o4, FCL_REAL r4,
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const Vector3d& min1, const Vector3d& max1,
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const Vector3d& min2, const Vector3d& max2,
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const Vector3d& min3, const Vector3d& max3,
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const Vector3d& min4, const Vector3d& max4)
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{
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__m128 MINX, MINY, MINZ, MAXX, MAXX, MAXY, MAXZ, SX, SY, SZ, SR;
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MINX = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]);
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MAXX = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]);
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MINY = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]);
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MAXY = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]);
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MINZ = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]);
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MAXZ = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]);
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SX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]);
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SY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]);
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SZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]);
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SR = _mm_set_ps(r1, r2, r3, r4);
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__m128 TX = _mm_max_ps(SX, MINX);
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__m128 TY = _mm_max_ps(SY, MINY);
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__m128 TZ = _mm_max_ps(SZ, MINZ);
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TX = _mm_min_ps(TX, MAXX);
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TY = _mm_min_ps(TY, MAXY);
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TZ = _mm_min_ps(TZ, MAXZ);
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__m128 DX = _mm_sub_ps(SX, TX);
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__m128 DY = _mm_sub_ps(SY, TY);
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__m128 DZ = _mm_sub_ps(SZ, TZ);
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__m128 R2 = _mm_mul_ps(SR, SR);
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DX = _mm_mul_ps(DX, DX);
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DY = _mm_mul_ps(DY, DY);
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DZ = _mm_mul_ps(DZ, DZ);
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__m128 T1 = _mm_add_ps(DX, DY);
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__m128 T2 = _mm_sub_ps(R2, DZ);
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return _mm_cmple_ps(T1, T2);
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}
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static inline __m128 sse_four_AABBs_intersect(const Vector3d& min1, const Vector3d& max1,
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const Vector3d& min2, const Vector3d& max2,
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const Vector3d& min3, const Vector3d& max3,
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const Vector3d& min4, const Vector3d& max4,
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const Vector3d& min5, const Vector3d& max5,
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const Vector3d& min6, const Vector3d& max6,
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const Vector3d& min7, const Vector3d& max7,
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const Vector3d& min8, const Vector3d& max8)
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{
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__m128 MIN1X, MIN1Y, MIN1Z, MAX1X, MAX1Y, MAX1Z, MIN2X, MIN2Y, MIN2Z, MAX2X, MAX2Y, MAX2Z;
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MIN1X = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]);
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MAX1X = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]);
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MIN1Y = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]);
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MAX1Y = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]);
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MIN1Z = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]);
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MAX1Z = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]);
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MIN2X = _mm_set_ps(min5[0], min6[0], min7[0], min8[0]);
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MAX2X = _mm_set_ps(max5[0], max6[0], max7[0], max8[0]);
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MIN2Y = _mm_set_ps(min5[1], min6[1], min7[1], min8[1]);
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MAX2Y = _mm_set_ps(max5[1], max6[1], max7[1], max8[1]);
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MIN2Z = _mm_set_ps(min5[2], min6[2], min7[2], min8[2]);
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MAX2Z = _mm_set_ps(max5[2], max6[2], max7[2], max8[2]);
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__m128 AX = _mm_max_ps(MIN1X, MIN2X);
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__m128 BX = _mm_min_ps(MAX1X, MAX2X);
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__m128 AY = _mm_max_ps(MIN1Y, MIN2Y);
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__m128 BY = _mm_min_ps(MAX1Y, MAX2Y);
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__m128 AZ = _mm_max_ps(MIN1Z, MIN2Z);
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__m128 BZ = _mm_min_ps(MAX1Z, MAX2Z);
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__m128 T1 = _mm_cmple_ps(AX, BX);
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__m128 T2 = _mm_cmple_ps(AY, BY);
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__m128 T3 = _mm_cmple_ps(AZ, BZ);
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__m128 T4 = _mm_and_ps(T1, T2);
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return _mm_and_ps(T3, T4);
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}
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static bool four_spheres_intersect_and(const Vector3d& o1, FCL_REAL r1,
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const Vector3d& o2, FCL_REAL r2,
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const Vector3d& o3, FCL_REAL r3,
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const Vector3d& o4, FCL_REAL r4,
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const Vector3d& o5, FCL_REAL r5,
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const Vector3d& o6, FCL_REAL r6,
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const Vector3d& o7, FCL_REAL r7,
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const Vector3d& o8, FCL_REAL r8)
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{
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__m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8);
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return _mm_movemask_ps(CMP) == 15.f;
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}
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static bool four_spheres_intersect_or(const Vector3d& o1, FCL_REAL r1,
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const Vector3d& o2, FCL_REAL r2,
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const Vector3d& o3, FCL_REAL r3,
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const Vector3d& o4, FCL_REAL r4,
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const Vector3d& o5, FCL_REAL r5,
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const Vector3d& o6, FCL_REAL r6,
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const Vector3d& o7, FCL_REAL r7,
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const Vector3d& o8, FCL_REAL r8)
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{
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__m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8);
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return __mm_movemask_ps(CMP) > 0;
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}
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/** @brief four spheres versus four AABBs SIMD test */
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static bool four_spheres_four_AABBs_intersect_and(const Vector3d& o1, FCL_REAL r1,
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const Vector3d& o2, FCL_REAL r2,
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const Vector3d& o3, FCL_REAL r3,
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const Vector3d& o4, FCL_REAL r4,
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const Vector3d& min1, const Vector3d& max1,
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const Vector3d& min2, const Vector3d& max2,
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const Vector3d& min3, const Vector3d& max3,
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const Vector3d& min4, const Vector3d& max4)
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{
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__m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4);
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return _mm_movemask_ps(CMP) == 15.f;
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}
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static bool four_spheres_four_AABBs_intersect_or(const Vector3d& o1, FCL_REAL r1,
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const Vector3d& o2, FCL_REAL r2,
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const Vector3d& o3, FCL_REAL r3,
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const Vector3d& o4, FCL_REAL r4,
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const Vector3d& min1, const Vector3d& max1,
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const Vector3d& min2, const Vector3d& max2,
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const Vector3d& min3, const Vector3d& max3,
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const Vector3d& min4, const Vector3d& max4)
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{
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__m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4);
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return _mm_movemask_ps(CMP) > 0;
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}
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/** @brief four AABBs versus four AABBs SIMD test */
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static bool four_AABBs_intersect_and(const Vector3d& min1, const Vector3d& max1,
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const Vector3d& min2, const Vector3d& max2,
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const Vector3d& min3, const Vector3d& max3,
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const Vector3d& min4, const Vector3d& max4,
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const Vector3d& min5, const Vector3d& max5,
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const Vector3d& min6, const Vector3d& max6,
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const Vector3d& min7, const Vector3d& max7,
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const Vector3d& min8, const Vector3d& max8)
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{
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__m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8);
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return _mm_movemask_ps(CMP) == 15.f;
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}
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static bool four_AABBs_intersect_or(const Vector3d& min1, const Vector3d& max1,
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const Vector3d& min2, const Vector3d& max2,
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const Vector3d& min3, const Vector3d& max3,
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const Vector3d& min4, const Vector3d& max4,
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const Vector3d& min5, const Vector3d& max5,
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const Vector3d& min6, const Vector3d& max6,
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const Vector3d& min7, const Vector3d& max7,
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const Vector3d& min8, const Vector3d& max8)
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{
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__m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8);
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return _mm_movemask_ps(CMP) > 0;
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}
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}
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#endif
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