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SIMD refactor

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This commit is contained in:
Jack Andersen
2018-12-07 15:49:15 -10:00
parent e1fa938127
commit 7c7da6671a
201 changed files with 2475 additions and 1906 deletions
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156
Runtime/Collision/CollisionUtil.cpp
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@@ -64,7 +64,7 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb,
zeus::CVector3f vec0 = {-1.f, -1.f, -1.f};
zeus::CVector3f vec1;
if (rayDelta.x != 0.f && rayDelta.y != 0.f && rayDelta.z != 0.f)
if (rayDelta.x() != 0.f && rayDelta.y() != 0.f && rayDelta.z() != 0.f)
{
for (int i=0 ; i<3 ; ++i)
{
@@ -97,13 +97,13 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb,
{
sign[i] = 1;
bad = false;
end[i] = aabbMin[i];
end[i] = float(aabbMin[i]);
}
else if (rayStart[i] > aabbMax[i])
{
sign[i] = 0;
bad = false;
end[i] = aabbMax[i];
end[i] = float(aabbMax[i]);
}
}
@@ -118,16 +118,16 @@ u32 RayAABoxIntersection(const zeus::CMRay& ray, const zeus::CAABox& aabb,
vec0[i] = (end[i] - rayStart[i]) / rayDelta[i];
}
float maxComp = vec0.x;
float maxComp = vec0.x();
int maxCompIdx = 0;
if (maxComp < vec0.y)
if (maxComp < vec0.y())
{
maxComp = vec0.y;
maxComp = vec0.y();
maxCompIdx = 1;
}
if (maxComp < vec0.z)
if (maxComp < vec0.z())
{
maxComp = vec0.z;
maxComp = vec0.z();
maxCompIdx = 2;
}
@@ -163,7 +163,7 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
zeus::CVector3d vec0 = {-1.0, -1.0, -1.0};
zeus::CVector3d vec1;
if (rayDelta.x != 0.0 && rayDelta.y != 0.0 && rayDelta.z != 0.0)
if (rayDelta.x() != 0.0 && rayDelta.y() != 0.0 && rayDelta.z() != 0.0)
{
for (int i=0 ; i<3 ; ++i)
{
@@ -196,13 +196,13 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
{
sign[i] = 1;
bad = false;
end[i] = aabbMin[i];
end[i] = double(aabbMin[i]);
}
else if (rayStart[i] > aabbMax[i])
{
sign[i] = 0;
bad = false;
end[i] = aabbMax[i];
end[i] = double(aabbMax[i]);
}
}
@@ -217,16 +217,16 @@ u32 RayAABoxIntersection_Double(const zeus::CMRay& ray, const zeus::CAABox& aabb
vec0[i] = (end[i] - rayStart[i]) / rayDelta[i];
}
double maxComp = vec0.x;
double maxComp = vec0.x();
int maxCompIdx = 0;
if (maxComp < vec0.y)
if (maxComp < vec0.y())
{
maxComp = vec0.y;
maxComp = vec0.y();
maxCompIdx = 1;
}
if (maxComp < vec0.z)
if (maxComp < vec0.z())
{
maxComp = vec0.z;
maxComp = vec0.z();
maxCompIdx = 2;
}
@@ -389,32 +389,32 @@ bool AABoxAABoxIntersection(const zeus::CAABox& aabb0, const CMaterialList& list
const zeus::CAABox& aabb1, const CMaterialList& list1,
CCollisionInfoList& infoList)
{
zeus::CVector3f maxOfMin(std::max(aabb0.min.x, aabb1.min.x),
std::max(aabb0.min.y, aabb1.min.y),
std::max(aabb0.min.z, aabb1.min.z));
zeus::CVector3f minOfMax(std::min(aabb0.max.x, aabb1.max.x),
std::min(aabb0.max.y, aabb1.max.y),
std::min(aabb0.max.z, aabb1.max.z));
zeus::CVector3f maxOfMin(std::max(aabb0.min.x(), aabb1.min.x()),
std::max(aabb0.min.y(), aabb1.min.y()),
std::max(aabb0.min.z(), aabb1.min.z()));
zeus::CVector3f minOfMax(std::min(aabb0.max.x(), aabb1.max.x()),
std::min(aabb0.max.y(), aabb1.max.y()),
std::min(aabb0.max.z(), aabb1.max.z()));
if (maxOfMin.x >= minOfMax.x || maxOfMin.y >= minOfMax.y || maxOfMin.z >= minOfMax.z)
if (maxOfMin.x() >= minOfMax.x() || maxOfMin.y() >= minOfMax.y() || maxOfMin.z() >= minOfMax.z())
return false;
zeus::CAABox boolAABB(maxOfMin, minOfMax);
int ineqFlags[] =
{
(aabb0.min.x <= aabb1.min.x ? 1 << 0 : 0) |
(aabb0.min.x <= aabb1.max.x ? 1 << 1 : 0) |
(aabb0.max.x <= aabb1.min.x ? 1 << 2 : 0) |
(aabb0.max.x <= aabb1.max.x ? 1 << 3 : 0),
(aabb0.min.y <= aabb1.min.y ? 1 << 0 : 0) |
(aabb0.min.y <= aabb1.max.y ? 1 << 1 : 0) |
(aabb0.max.y <= aabb1.min.y ? 1 << 2 : 0) |
(aabb0.max.y <= aabb1.max.y ? 1 << 3 : 0),
(aabb0.min.z <= aabb1.min.z ? 1 << 0 : 0) |
(aabb0.min.z <= aabb1.max.z ? 1 << 1 : 0) |
(aabb0.max.z <= aabb1.min.z ? 1 << 2 : 0) |
(aabb0.max.z <= aabb1.max.z ? 1 << 3 : 0),
(aabb0.min.x() <= aabb1.min.x() ? 1 << 0 : 0) |
(aabb0.min.x() <= aabb1.max.x() ? 1 << 1 : 0) |
(aabb0.max.x() <= aabb1.min.x() ? 1 << 2 : 0) |
(aabb0.max.x() <= aabb1.max.x() ? 1 << 3 : 0),
(aabb0.min.y() <= aabb1.min.y() ? 1 << 0 : 0) |
(aabb0.min.y() <= aabb1.max.y() ? 1 << 1 : 0) |
(aabb0.max.y() <= aabb1.min.y() ? 1 << 2 : 0) |
(aabb0.max.y() <= aabb1.max.y() ? 1 << 3 : 0),
(aabb0.min.z() <= aabb1.min.z() ? 1 << 0 : 0) |
(aabb0.min.z() <= aabb1.max.z() ? 1 << 1 : 0) |
(aabb0.max.z() <= aabb1.min.z() ? 1 << 2 : 0) |
(aabb0.max.z() <= aabb1.max.z() ? 1 << 3 : 0),
};
for (int i=0 ; i<3 ; ++i)
@@ -505,48 +505,48 @@ static bool planeBoxOverlap(const zeus::CVector3f& normal, float d, const zeus::
/*======================== X-tests ========================*/
#define AXISTEST_X01(a, b, fa, fb) \
p0 = a*v0.y - b*v0.z; \
p2 = a*v2.y - b*v2.z; \
p0 = a*v0.y() - b*v0.z(); \
p2 = a*v2.y() - b*v2.z(); \
if(p0<p2) {min=p0; max=p2;} else {min=p2; max=p0;} \
rad = fa * boxhalfsize.y + fb * boxhalfsize.z; \
rad = fa * boxhalfsize.y() + fb * boxhalfsize.z(); \
if(min>rad || max<-rad) return false;
#define AXISTEST_X2(a, b, fa, fb) \
p0 = a*v0.y - b*v0.z; \
p1 = a*v1.y - b*v1.z; \
p0 = a*v0.y() - b*v0.z(); \
p1 = a*v1.y() - b*v1.z(); \
if(p0<p1) {min=p0; max=p1;} else {min=p1; max=p0;} \
rad = fa * boxhalfsize.y + fb * boxhalfsize.z; \
rad = fa * boxhalfsize.y() + fb * boxhalfsize.z(); \
if(min>rad || max<-rad) return false;
/*======================== Y-tests ========================*/
#define AXISTEST_Y02(a, b, fa, fb) \
p0 = -a*v0.x + b*v0.z; \
p2 = -a*v2.x + b*v2.z; \
p0 = -a*v0.x() + b*v0.z(); \
p2 = -a*v2.x() + b*v2.z(); \
if(p0<p2) {min=p0; max=p2;} else {min=p2; max=p0;} \
rad = fa * boxhalfsize.x + fb * boxhalfsize.z; \
rad = fa * boxhalfsize.x() + fb * boxhalfsize.z(); \
if(min>rad || max<-rad) return false;
#define AXISTEST_Y1(a, b, fa, fb) \
p0 = -a*v0.x + b*v0.z; \
p1 = -a*v1.x + b*v1.z; \
p0 = -a*v0.x() + b*v0.z(); \
p1 = -a*v1.x() + b*v1.z(); \
if(p0<p1) {min=p0; max=p1;} else {min=p1; max=p0;} \
rad = fa * boxhalfsize.x + fb * boxhalfsize.z; \
rad = fa * boxhalfsize.x() + fb * boxhalfsize.z(); \
if(min>rad || max<-rad) return false;
/*======================== Z-tests ========================*/
#define AXISTEST_Z12(a, b, fa, fb) \
p1 = a*v1.x - b*v1.y; \
p2 = a*v2.x - b*v2.y; \
p1 = a*v1.x() - b*v1.y(); \
p2 = a*v2.x() - b*v2.y(); \
if(p2<p1) {min=p2; max=p1;} else {min=p1; max=p2;} \
rad = fa * boxhalfsize.x + fb * boxhalfsize.y; \
rad = fa * boxhalfsize.x() + fb * boxhalfsize.y(); \
if(min>rad || max<-rad) return false;
#define AXISTEST_Z0(a, b, fa, fb) \
p0 = a*v0.x - b*v0.y; \
p1 = a*v1.x - b*v1.y; \
p0 = a*v0.x() - b*v0.y(); \
p1 = a*v1.x() - b*v1.y(); \
if(p0<p1) {min=p0; max=p1;} else {min=p1; max=p0;} \
rad = fa * boxhalfsize.x + fb * boxhalfsize.y; \
rad = fa * boxhalfsize.x() + fb * boxhalfsize.y(); \
if(min>rad || max<-rad) return false;
bool TriBoxOverlap(const zeus::CVector3f& boxcenter, const zeus::CVector3f& boxhalfsize,
@@ -578,26 +578,26 @@ bool TriBoxOverlap(const zeus::CVector3f& boxcenter, const zeus::CVector3f& boxh
/* Bullet 3: */
/* test the 9 tests first (this was faster) */
fex = std::fabs(e0.x);
fey = std::fabs(e0.y);
fez = std::fabs(e0.z);
AXISTEST_X01(e0.z, e0.y, fez, fey);
AXISTEST_Y02(e0.z, e0.x, fez, fex);
AXISTEST_Z12(e0.y, e0.x, fey, fex);
fex = std::fabs(e0.x());
fey = std::fabs(e0.y());
fez = std::fabs(e0.z());
AXISTEST_X01(e0.z(), e0.y(), fez, fey);
AXISTEST_Y02(e0.z(), e0.x(), fez, fex);
AXISTEST_Z12(e0.y(), e0.x(), fey, fex);
fex = std::fabs(e1.x);
fey = std::fabs(e1.y);
fez = std::fabs(e1.z);
AXISTEST_X01(e1.z, e1.y, fez, fey);
AXISTEST_Y02(e1.z, e1.x, fez, fex);
AXISTEST_Z0(e1.y, e1.x, fey, fex);
fex = std::fabs(e1.x());
fey = std::fabs(e1.y());
fez = std::fabs(e1.z());
AXISTEST_X01(e1.z(), e1.y(), fez, fey);
AXISTEST_Y02(e1.z(), e1.x(), fez, fex);
AXISTEST_Z0(e1.y(), e1.x(), fey, fex);
fex = std::fabs(e2.x);
fey = std::fabs(e2.y);
fez = std::fabs(e2.z);
AXISTEST_X2(e2.z, e2.y, fez, fey);
AXISTEST_Y1(e2.z, e2.x, fez, fex);
AXISTEST_Z12(e2.y, e2.x, fey, fex);
fex = std::fabs(e2.x());
fey = std::fabs(e2.y());
fez = std::fabs(e2.z());
AXISTEST_X2(e2.z(), e2.y(), fez, fey);
AXISTEST_Y1(e2.z(), e2.x(), fez, fex);
AXISTEST_Z12(e2.y(), e2.x(), fey, fex);
/* Bullet 1: */
/* first test overlap in the {x,y,z}-directions */
@@ -606,16 +606,16 @@ bool TriBoxOverlap(const zeus::CVector3f& boxcenter, const zeus::CVector3f& boxh
/* the triangle against the AABB */
/* test in X-direction */
FINDMINMAX(v0.x, v1.x, v2.x, min, max);
if (min>boxhalfsize.x || max<-boxhalfsize.x) return false;
FINDMINMAX(v0.x(), v1.x(), v2.x(), min, max);
if (min>boxhalfsize.x() || max<-boxhalfsize.x()) return false;
/* test in Y-direction */
FINDMINMAX(v0.y, v1.y, v2.y, min, max);
if (min>boxhalfsize.y || max<-boxhalfsize.y) return false;
FINDMINMAX(v0.y(), v1.y(), v2.y(), min, max);
if (min>boxhalfsize.y() || max<-boxhalfsize.y()) return false;
/* test in Z-direction */
FINDMINMAX(v0.z, v1.z, v2.z, min, max);
if (min>boxhalfsize.z || max<-boxhalfsize.z) return false;
FINDMINMAX(v0.z(), v1.z(), v2.z(), min, max);
if (min>boxhalfsize.z() || max<-boxhalfsize.z()) return false;
/* Bullet 2: */
/* test if the box intersects the plane of the triangle */
@@ -878,7 +878,7 @@ bool TriSphereIntersection(const zeus::CSphere& sphere,
point = zeus::baryToWorld(trivert2, trivert1, trivert0, barys);
if (baryX == 0.f || baryX == 1.f || baryY == 0.f || baryY == 1.f ||
barys.z == 0.f || barys.z == 1.f)
barys.z() == 0.f || barys.z() == 1.f)
normal = -sphere.getSurfaceNormal(point);
else
normal = (trivert1 - trivert0).cross(trivert2 - trivert0).normalized();