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++ // Copyright 2009-2021 Intel Corporation
++ // SPDX-License-Identifier: Apache-2.0
++
++ #pragma once
++
++ #include "triangle.h"
++ #include "trianglev.h"
++ #include "trianglev_mb.h"
++ #include "intersector_epilog.h"
++
++ /*! Modified Pluecker ray/triangle intersector. The test first shifts
++ * the ray origin into the origin of the coordinate system and then
++ * uses Pluecker coordinates for the intersection. Due to the shift,
++ * the Pluecker coordinate calculation simplifies and the tests get
++ * numerically stable. The edge equations are watertight along the
++ * edge for neighboring triangles. */
++
++ namespace embree
++ {
++ namespace isa
++ {
++ template<int M, typename UVMapper>
++ struct PlueckerHitM
++ {
++ __forceinline PlueckerHitM(const UVMapper& mapUV) : mapUV(mapUV) {}
++
++ __forceinline PlueckerHitM(const vbool<M>& valid, const vfloat<M>& U, const vfloat<M>& V, const vfloat<M>& UVW, const vfloat<M>& t, const Vec3vf<M>& Ng, const UVMapper& mapUV)
++ : U(U), V(V), UVW(UVW), mapUV(mapUV), valid(valid), vt(t), vNg(Ng) {}
++
++ __forceinline void finalize()
++ {
++ const vbool<M> invalid = abs(UVW) < min_rcp_input;
++ const vfloat<M> rcpUVW = select(invalid,vfloat<M>(0.0f),rcp(UVW));
++ vu = min(U * rcpUVW,1.0f);
++ vv = min(V * rcpUVW,1.0f);
++ mapUV(vu,vv,vNg);
++ }
++
++ __forceinline Vec2vf<M> uv() const { return Vec2vf<M>(vu,vv); }
++ __forceinline vfloat<M> t () const { return vt; }
++ __forceinline Vec3vf<M> Ng() const { return vNg; }
++
++ __forceinline Vec2f uv (const size_t i) const { return Vec2f(vu[i],vv[i]); }
++ __forceinline float t (const size_t i) const { return vt[i]; }
++ __forceinline Vec3fa Ng(const size_t i) const { return Vec3fa(vNg.x[i],vNg.y[i],vNg.z[i]); }
++
++ public:
++ vfloat<M> U;
++ vfloat<M> V;
++ vfloat<M> UVW;
++ const UVMapper& mapUV;
++
++ public:
++ vbool<M> valid;
++ vfloat<M> vu;
++ vfloat<M> vv;
++ vfloat<M> vt;
++ Vec3vf<M> vNg;
++ };
++
++ template<int M, bool early_out = true>
++ struct PlueckerIntersector1
++ {
++ __forceinline PlueckerIntersector1() {}
++
++ __forceinline PlueckerIntersector1(const Ray& ray, const void* ptr) {}
++
++ template<typename UVMapper>
++ __forceinline bool intersect(const vbool<M>& valid0,
++ Ray& ray,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const UVMapper& mapUV,
++ PlueckerHitM<M,UVMapper>& hit) const
++ {
++ vbool<M> valid = valid0;
++
++ /* calculate vertices relative to ray origin */
++ const Vec3vf<M> O = Vec3vf<M>((Vec3fa)ray.org);
++ const Vec3vf<M> D = Vec3vf<M>((Vec3fa)ray.dir);
++ const Vec3vf<M> v0 = tri_v0-O;
++ const Vec3vf<M> v1 = tri_v1-O;
++ const Vec3vf<M> v2 = tri_v2-O;
++
++ /* calculate triangle edges */
++ const Vec3vf<M> e0 = v2-v0;
++ const Vec3vf<M> e1 = v0-v1;
++ const Vec3vf<M> e2 = v1-v2;
++
++ /* perform edge tests */
++ const vfloat<M> U = dot(cross(e0,v2+v0),D);
++ const vfloat<M> V = dot(cross(e1,v0+v1),D);
++ const vfloat<M> W = dot(cross(e2,v1+v2),D);
++ const vfloat<M> UVW = U+V+W;
++ const vfloat<M> eps = float(ulp)*abs(UVW);
++ #if defined(EMBREE_BACKFACE_CULLING)
++ valid &= max(U,V,W) <= eps;
++ #else
++ valid &= (min(U,V,W) >= -eps) | (max(U,V,W) <= eps);
++ #endif
++ if (unlikely(early_out && none(valid))) return false;
++
++ /* calculate geometry normal and denominator */
++ const Vec3vf<M> Ng = stable_triangle_normal(e0,e1,e2);
++ const vfloat<M> den = twice(dot(Ng,D));
++
++ /* perform depth test */
++ const vfloat<M> T = twice(dot(v0,Ng));
++ const vfloat<M> t = rcp(den)*T;
++ valid &= vfloat<M>(ray.tnear()) <= t & t <= vfloat<M>(ray.tfar);
++ valid &= den != vfloat<M>(zero);
++ if (unlikely(early_out && none(valid))) return false;
++
++ /* update hit information */
++ new (&hit) PlueckerHitM<M,UVMapper>(valid,U,V,UVW,t,Ng,mapUV);
++ return true;
++ }
++
++ template<typename UVMapper>
++ __forceinline bool intersectEdge(const vbool<M>& valid,
++ Ray& ray,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const UVMapper& mapUV,
++ PlueckerHitM<M,UVMapper>& hit) const
++ {
++ return intersect(valid,ray,tri_v0,tri_v1,tri_v2,mapUV,hit);
++ }
++
++ template<typename UVMapper>
++ __forceinline bool intersectEdge(Ray& ray,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const UVMapper& mapUV,
++ PlueckerHitM<M,UVMapper>& hit) const
++ {
++ vbool<M> valid = true;
++ return intersect(valid,ray,tri_v0,tri_v1,tri_v2,mapUV,hit);
++ }
++
++ template<typename UVMapper>
++ __forceinline bool intersect(Ray& ray,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const UVMapper& mapUV,
++ PlueckerHitM<M,UVMapper>& hit) const
++ {
++ return intersectEdge(ray,tri_v0,tri_v1,tri_v2,mapUV,hit);
++ }
++
++ template<typename UVMapper, typename Epilog>
++ __forceinline bool intersectEdge(Ray& ray,
++ const Vec3vf<M>& v0,
++ const Vec3vf<M>& e1,
++ const Vec3vf<M>& e2,
++ const UVMapper& mapUV,
++ const Epilog& epilog) const
++ {
++ PlueckerHitM<M,UVMapper> hit(mapUV);
++ if (likely(intersectEdge(ray,v0,e1,e2,mapUV,hit))) return epilog(hit.valid,hit);
++ return false;
++ }
++
++ template<typename UVMapper, typename Epilog>
++ __forceinline bool intersect(Ray& ray,
++ const Vec3vf<M>& v0,
++ const Vec3vf<M>& v1,
++ const Vec3vf<M>& v2,
++ const UVMapper& mapUV,
++ const Epilog& epilog) const
++ {
++ PlueckerHitM<M,UVMapper> hit(mapUV);
++ if (likely(intersect(ray,v0,v1,v2,mapUV,hit))) return epilog(hit.valid,hit);
++ return false;
++ }
++
++ template<typename Epilog>
++ __forceinline bool intersect(Ray& ray,
++ const Vec3vf<M>& v0,
++ const Vec3vf<M>& v1,
++ const Vec3vf<M>& v2,
++ const Epilog& epilog) const
++ {
++ auto mapUV = UVIdentity<M>();
++ PlueckerHitM<M,UVIdentity<M>> hit(mapUV);
++ if (likely(intersect(ray,v0,v1,v2,mapUV,hit))) return epilog(hit.valid,hit);
++ return false;
++ }
++
++ template<typename UVMapper, typename Epilog>
++ __forceinline bool intersect(const vbool<M>& valid,
++ Ray& ray,
++ const Vec3vf<M>& v0,
++ const Vec3vf<M>& v1,
++ const Vec3vf<M>& v2,
++ const UVMapper& mapUV,
++ const Epilog& epilog) const
++ {
++ PlueckerHitM<M,UVMapper> hit(mapUV);
++ if (likely(intersect(valid,ray,v0,v1,v2,mapUV,hit))) return epilog(hit.valid,hit);
++ return false;
++ }
++
++ };
++
++ template<int K, typename UVMapper>
++ struct PlueckerHitK
++ {
++ __forceinline PlueckerHitK(const UVMapper& mapUV) : mapUV(mapUV) {}
++
++ __forceinline PlueckerHitK(const vfloat<K>& U, const vfloat<K>& V, const vfloat<K>& UVW, const vfloat<K>& t, const Vec3vf<K>& Ng, const UVMapper& mapUV)
++ : U(U), V(V), UVW(UVW), t(t), Ng(Ng), mapUV(mapUV) {}
++
++ __forceinline std::tuple<vfloat<K>,vfloat<K>,vfloat<K>,Vec3vf<K>> operator() () const
++ {
++ const vbool<K> invalid = abs(UVW) < min_rcp_input;
++ const vfloat<K> rcpUVW = select(invalid,vfloat<K>(0.0f),rcp(UVW));
++ vfloat<K> u = min(U * rcpUVW,1.0f);
++ vfloat<K> v = min(V * rcpUVW,1.0f);
++ Vec3vf<K> vNg = Ng;
++ mapUV(u,v,vNg);
++ return std::make_tuple(u,v,t,vNg);
++ }
++ vfloat<K> U;
++ vfloat<K> V;
++ const vfloat<K> UVW;
++ const vfloat<K> t;
++ const Vec3vf<K> Ng;
++ const UVMapper& mapUV;
++ };
++
++ template<int M, int K>
++ struct PlueckerIntersectorK
++ {
++ __forceinline PlueckerIntersectorK() {}
++ __forceinline PlueckerIntersectorK(const vbool<K>& valid, const RayK<K>& ray) {}
++
++ /*! Intersects K rays with one of M triangles. */
++ template<typename UVMapper>
++ __forceinline vbool<K> intersectK(const vbool<K>& valid0,
++ RayK<K>& ray,
++ const Vec3vf<K>& tri_v0,
++ const Vec3vf<K>& tri_v1,
++ const Vec3vf<K>& tri_v2,
++ const UVMapper& mapUV,
++ PlueckerHitK<K,UVMapper> &hit) const
++ {
++ /* calculate vertices relative to ray origin */
++ vbool<K> valid = valid0;
++ const Vec3vf<K> O = ray.org;
++ const Vec3vf<K> D = ray.dir;
++ const Vec3vf<K> v0 = tri_v0-O;
++ const Vec3vf<K> v1 = tri_v1-O;
++ const Vec3vf<K> v2 = tri_v2-O;
++
++ /* calculate triangle edges */
++ const Vec3vf<K> e0 = v2-v0;
++ const Vec3vf<K> e1 = v0-v1;
++ const Vec3vf<K> e2 = v1-v2;
++
++ /* perform edge tests */
++ const vfloat<K> U = dot(Vec3vf<K>(cross(e0,v2+v0)),D);
++ const vfloat<K> V = dot(Vec3vf<K>(cross(e1,v0+v1)),D);
++ const vfloat<K> W = dot(Vec3vf<K>(cross(e2,v1+v2)),D);
++ const vfloat<K> UVW = U+V+W;
++ const vfloat<K> eps = float(ulp)*abs(UVW);
++ #if defined(EMBREE_BACKFACE_CULLING)
++ valid &= max(U,V,W) <= eps;
++ #else
++ valid &= (min(U,V,W) >= -eps) | (max(U,V,W) <= eps);
++ #endif
++ if (unlikely(none(valid))) return valid;
++
++ /* calculate geometry normal and denominator */
++ const Vec3vf<K> Ng = stable_triangle_normal(e0,e1,e2);
++ const vfloat<K> den = twice(dot(Vec3vf<K>(Ng),D));
++
++ /* perform depth test */
++ const vfloat<K> T = twice(dot(v0,Vec3vf<K>(Ng)));
++ const vfloat<K> t = rcp(den)*T;
++ valid &= ray.tnear() <= t & t <= ray.tfar;
++ valid &= den != vfloat<K>(zero);
++ if (unlikely(none(valid))) return valid;
++
++ /* calculate hit information */
++ new (&hit) PlueckerHitK<K,UVMapper>(U,V,UVW,t,Ng,mapUV);
++ return valid;
++ }
++
++ template<typename Epilog>
++ __forceinline vbool<K> intersectK(const vbool<K>& valid0,
++ RayK<K>& ray,
++ const Vec3vf<K>& tri_v0,
++ const Vec3vf<K>& tri_v1,
++ const Vec3vf<K>& tri_v2,
++ const Epilog& epilog) const
++ {
++ UVIdentity<K> mapUV;
++ PlueckerHitK<K,UVIdentity<K>> hit(mapUV);
++ const vbool<K> valid = intersectK(valid0,ray,tri_v0,tri_v1,tri_v2,mapUV,hit);
++ return epilog(valid,hit);
++ }
++
++ template<typename UVMapper, typename Epilog>
++ __forceinline vbool<K> intersectK(const vbool<K>& valid0,
++ RayK<K>& ray,
++ const Vec3vf<K>& tri_v0,
++ const Vec3vf<K>& tri_v1,
++ const Vec3vf<K>& tri_v2,
++ const UVMapper& mapUV,
++ const Epilog& epilog) const
++ {
++ PlueckerHitK<K,UVMapper> hit(mapUV);
++ const vbool<K> valid = intersectK(valid0,ray,tri_v0,tri_v1,tri_v2,mapUV,hit);
++ return epilog(valid,hit);
++ }
++
++ /*! Intersect k'th ray from ray packet of size K with M triangles. */
++ template<typename UVMapper>
++ __forceinline bool intersect(RayK<K>& ray, size_t k,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const UVMapper& mapUV,
++ PlueckerHitM<M,UVMapper> &hit) const
++ {
++ /* calculate vertices relative to ray origin */
++ const Vec3vf<M> O = broadcast<vfloat<M>>(ray.org,k);
++ const Vec3vf<M> D = broadcast<vfloat<M>>(ray.dir,k);
++ const Vec3vf<M> v0 = tri_v0-O;
++ const Vec3vf<M> v1 = tri_v1-O;
++ const Vec3vf<M> v2 = tri_v2-O;
++
++ /* calculate triangle edges */
++ const Vec3vf<M> e0 = v2-v0;
++ const Vec3vf<M> e1 = v0-v1;
++ const Vec3vf<M> e2 = v1-v2;
++
++
++ /* perform edge tests */
++ const vfloat<M> U = dot(cross(e0,v2+v0),D);
++ const vfloat<M> V = dot(cross(e1,v0+v1),D);
++ const vfloat<M> W = dot(cross(e2,v1+v2),D);
++
++ const vfloat<M> UVW = U+V+W;
++ const vfloat<M> eps = float(ulp)*abs(UVW);
++ #if defined(EMBREE_BACKFACE_CULLING)
++ vbool<M> valid = max(U,V,W) <= eps;
++ #else
++ vbool<M> valid = (min(U,V,W) >= -eps) | (max(U,V,W) <= eps);
++ #endif
++ if (unlikely(none(valid))) return false;
++
++ /* calculate geometry normal and denominator */
++ const Vec3vf<M> Ng = stable_triangle_normal(e0,e1,e2);
++ const vfloat<M> den = twice(dot(Ng,D));
++
++ /* perform depth test */
++ const vfloat<M> T = twice(dot(v0,Ng));
++ const vfloat<M> t = rcp(den)*T;
++ valid &= vfloat<M>(ray.tnear()[k]) <= t & t <= vfloat<M>(ray.tfar[k]);
++ if (unlikely(none(valid))) return false;
++
++ /* avoid division by 0 */
++ valid &= den != vfloat<M>(zero);
++ if (unlikely(none(valid))) return false;
++
++ /* update hit information */
++ new (&hit) PlueckerHitM<M,UVMapper>(valid,U,V,UVW,t,Ng,mapUV);
++ return true;
++ }
++
++ template<typename UVMapper, typename Epilog>
++ __forceinline bool intersect(RayK<K>& ray, size_t k,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const UVMapper& mapUV,
++ const Epilog& epilog) const
++ {
++ PlueckerHitM<M,UVMapper> hit(mapUV);
++ if (intersect(ray,k,tri_v0,tri_v1,tri_v2,mapUV,hit))
++ return epilog(hit.valid,hit);
++ return false;
++ }
++
++ template<typename Epilog>
++ __forceinline bool intersect(RayK<K>& ray, size_t k,
++ const Vec3vf<M>& tri_v0,
++ const Vec3vf<M>& tri_v1,
++ const Vec3vf<M>& tri_v2,
++ const Epilog& epilog) const
++ {
++ UVIdentity<M> mapUV;
++ PlueckerHitM<M,UVIdentity<M>> hit(mapUV);
++ if (intersect(ray,k,tri_v0,tri_v1,tri_v2,mapUV,hit))
++ return epilog(hit.valid,hit);
++ return false;
++ }
++
++ };
++ }
++ }