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++ // Copyright 2009-2021 Intel Corporation
++ // SPDX-License-Identifier: Apache-2.0
++
++ #pragma once
++
++ #include "../common/ray.h"
++
++ namespace embree
++ {
++ namespace isa
++ {
++ struct Cylinder
++ {
++ const Vec3fa p0; //!< start location
++ const Vec3fa p1; //!< end position
++ const float rr; //!< squared radius of cylinder
++
++ __forceinline Cylinder(const Vec3fa& p0, const Vec3fa& p1, const float r)
++ : p0(p0), p1(p1), rr(sqr(r)) {}
++
++ __forceinline Cylinder(const Vec3fa& p0, const Vec3fa& p1, const float rr, bool)
++ : p0(p0), p1(p1), rr(rr) {}
++
++ __forceinline bool intersect(const Vec3fa& org,
++ const Vec3fa& dir,
++ BBox1f& t_o,
++ float& u0_o, Vec3fa& Ng0_o,
++ float& u1_o, Vec3fa& Ng1_o) const
++ {
++ /* calculate quadratic equation to solve */
++ const float rl = rcp_length(p1-p0);
++ const Vec3fa P0 = p0, dP = (p1-p0)*rl;
++ const Vec3fa O = org-P0, dO = dir;
++
++ const float dOdO = dot(dO,dO);
++ const float OdO = dot(dO,O);
++ const float OO = dot(O,O);
++ const float dOz = dot(dP,dO);
++ const float Oz = dot(dP,O);
++
++ const float A = dOdO - sqr(dOz);
++ const float B = 2.0f * (OdO - dOz*Oz);
++ const float C = OO - sqr(Oz) - rr;
++
++ /* we miss the cylinder if determinant is smaller than zero */
++ const float D = B*B - 4.0f*A*C;
++ if (D < 0.0f) {
++ t_o = BBox1f(pos_inf,neg_inf);
++ return false;
++ }
++
++ /* special case for rays that are parallel to the cylinder */
++ const float eps = 16.0f*float(ulp)*max(abs(dOdO),abs(sqr(dOz)));
++ if (abs(A) < eps)
++ {
++ if (C <= 0.0f) {
++ t_o = BBox1f(neg_inf,pos_inf);
++ return true;
++ } else {
++ t_o = BBox1f(pos_inf,neg_inf);
++ return false;
++ }
++ }
++
++ /* standard case for rays that are not parallel to the cylinder */
++ const float Q = sqrt(D);
++ const float rcp_2A = rcp(2.0f*A);
++ const float t0 = (-B-Q)*rcp_2A;
++ const float t1 = (-B+Q)*rcp_2A;
++
++ /* calculates u and Ng for near hit */
++ {
++ u0_o = madd(t0,dOz,Oz)*rl;
++ const Vec3fa Pr = t0*dir;
++ const Vec3fa Pl = madd(u0_o,p1-p0,p0);
++ Ng0_o = Pr-Pl;
++ }
++
++ /* calculates u and Ng for far hit */
++ {
++ u1_o = madd(t1,dOz,Oz)*rl;
++ const Vec3fa Pr = t1*dir;
++ const Vec3fa Pl = madd(u1_o,p1-p0,p0);
++ Ng1_o = Pr-Pl;
++ }
++
++ t_o.lower = t0;
++ t_o.upper = t1;
++ return true;
++ }
++
++ __forceinline bool intersect(const Vec3fa& org_i, const Vec3fa& dir, BBox1f& t_o) const
++ {
++ float u0_o; Vec3fa Ng0_o;
++ float u1_o; Vec3fa Ng1_o;
++ return intersect(org_i,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o);
++ }
++
++ static bool verify(const size_t id, const Cylinder& cylinder, const RayHit& ray, bool shouldhit, const float t0, const float t1)
++ {
++ float eps = 0.001f;
++ BBox1f t; bool hit;
++ hit = cylinder.intersect(ray.org,ray.dir,t);
++
++ bool failed = hit != shouldhit;
++ if (shouldhit) failed |= std::isinf(t0) ? t0 != t.lower : abs(t0-t.lower) > eps;
++ if (shouldhit) failed |= std::isinf(t1) ? t1 != t.upper : abs(t1-t.upper) > eps;
++ if (!failed) return true;
++ embree_cout << "Cylinder test " << id << " failed: cylinder = " << cylinder << ", ray = " << ray << ", hit = " << hit << ", t = " << t << embree_endl;
++ return false;
++ }
++
++ /* verify cylinder class */
++ static bool verify()
++ {
++ bool passed = true;
++ const Cylinder cylinder(Vec3fa(0.0f,0.0f,0.0f),Vec3fa(1.0f,0.0f,0.0f),1.0f);
++ passed &= verify(0,cylinder,RayHit(Vec3fa(-2.0f,1.0f,0.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.0f,2.0f);
++ passed &= verify(1,cylinder,RayHit(Vec3fa(+2.0f,1.0f,0.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),true,0.0f,2.0f);
++ passed &= verify(2,cylinder,RayHit(Vec3fa(+2.0f,1.0f,2.0f),Vec3fa( 0.0f,-1.0f,+0.0f),0.0f,float(inf)),false,0.0f,0.0f);
++ passed &= verify(3,cylinder,RayHit(Vec3fa(+0.0f,0.0f,0.0f),Vec3fa( 1.0f, 0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,pos_inf);
++ passed &= verify(4,cylinder,RayHit(Vec3fa(+0.0f,0.0f,0.0f),Vec3fa(-1.0f, 0.0f,+0.0f),0.0f,float(inf)),true,neg_inf,pos_inf);
++ passed &= verify(5,cylinder,RayHit(Vec3fa(+0.0f,2.0f,0.0f),Vec3fa( 1.0f, 0.0f,+0.0f),0.0f,float(inf)),false,pos_inf,neg_inf);
++ passed &= verify(6,cylinder,RayHit(Vec3fa(+0.0f,2.0f,0.0f),Vec3fa(-1.0f, 0.0f,+0.0f),0.0f,float(inf)),false,pos_inf,neg_inf);
++ return passed;
++ }
++
++ /*! output operator */
++ friend __forceinline embree_ostream operator<<(embree_ostream cout, const Cylinder& c) {
++ return cout << "Cylinder { p0 = " << c.p0 << ", p1 = " << c.p1 << ", r = " << sqrtf(c.rr) << "}";
++ }
++ };
++
++ template<int N>
++ struct CylinderN
++ {
++ const Vec3vf<N> p0; //!< start location
++ const Vec3vf<N> p1; //!< end position
++ const vfloat<N> rr; //!< squared radius of cylinder
++
++ __forceinline CylinderN(const Vec3vf<N>& p0, const Vec3vf<N>& p1, const vfloat<N>& r)
++ : p0(p0), p1(p1), rr(sqr(r)) {}
++
++ __forceinline CylinderN(const Vec3vf<N>& p0, const Vec3vf<N>& p1, const vfloat<N>& rr, bool)
++ : p0(p0), p1(p1), rr(rr) {}
++
++
++ __forceinline vbool<N> intersect(const Vec3fa& org, const Vec3fa& dir,
++ BBox<vfloat<N>>& t_o,
++ vfloat<N>& u0_o, Vec3vf<N>& Ng0_o,
++ vfloat<N>& u1_o, Vec3vf<N>& Ng1_o) const
++ {
++ /* calculate quadratic equation to solve */
++ const vfloat<N> rl = rcp_length(p1-p0);
++ const Vec3vf<N> P0 = p0, dP = (p1-p0)*rl;
++ const Vec3vf<N> O = Vec3vf<N>(org)-P0, dO = dir;
++
++ const vfloat<N> dOdO = dot(dO,dO);
++ const vfloat<N> OdO = dot(dO,O);
++ const vfloat<N> OO = dot(O,O);
++ const vfloat<N> dOz = dot(dP,dO);
++ const vfloat<N> Oz = dot(dP,O);
++
++ const vfloat<N> A = dOdO - sqr(dOz);
++ const vfloat<N> B = 2.0f * (OdO - dOz*Oz);
++ const vfloat<N> C = OO - sqr(Oz) - rr;
++
++ /* we miss the cylinder if determinant is smaller than zero */
++ const vfloat<N> D = B*B - 4.0f*A*C;
++ vbool<N> valid = D >= 0.0f;
++ if (none(valid)) {
++ t_o = BBox<vfloat<N>>(empty);
++ return valid;
++ }
++
++ /* standard case for rays that are not parallel to the cylinder */
++ const vfloat<N> Q = sqrt(D);
++ const vfloat<N> rcp_2A = rcp(2.0f*A);
++ const vfloat<N> t0 = (-B-Q)*rcp_2A;
++ const vfloat<N> t1 = (-B+Q)*rcp_2A;
++
++ /* calculates u and Ng for near hit */
++ {
++ u0_o = madd(t0,dOz,Oz)*rl;
++ const Vec3vf<N> Pr = t0*Vec3vf<N>(dir);
++ const Vec3vf<N> Pl = madd(u0_o,p1-p0,p0);
++ Ng0_o = Pr-Pl;
++ }
++
++ /* calculates u and Ng for far hit */
++ {
++ u1_o = madd(t1,dOz,Oz)*rl;
++ const Vec3vf<N> Pr = t1*Vec3vf<N>(dir);
++ const Vec3vf<N> Pl = madd(u1_o,p1-p0,p0);
++ Ng1_o = Pr-Pl;
++ }
++
++ t_o.lower = select(valid, t0, vfloat<N>(pos_inf));
++ t_o.upper = select(valid, t1, vfloat<N>(neg_inf));
++
++ /* special case for rays that are parallel to the cylinder */
++ const vfloat<N> eps = 16.0f*float(ulp)*max(abs(dOdO),abs(sqr(dOz)));
++ vbool<N> validt = valid & (abs(A) < eps);
++ if (unlikely(any(validt)))
++ {
++ vbool<N> inside = C <= 0.0f;
++ t_o.lower = select(validt,select(inside,vfloat<N>(neg_inf),vfloat<N>(pos_inf)),t_o.lower);
++ t_o.upper = select(validt,select(inside,vfloat<N>(pos_inf),vfloat<N>(neg_inf)),t_o.upper);
++ valid &= !validt | inside;
++ }
++ return valid;
++ }
++
++ __forceinline vbool<N> intersect(const Vec3fa& org_i, const Vec3fa& dir, BBox<vfloat<N>>& t_o) const
++ {
++ vfloat<N> u0_o; Vec3vf<N> Ng0_o;
++ vfloat<N> u1_o; Vec3vf<N> Ng1_o;
++ return intersect(org_i,dir,t_o,u0_o,Ng0_o,u1_o,Ng1_o);
++ }
++ };
++ }
++ }
++