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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** \author Jia Pan */
#ifndef FCL_MULTIPLE_INTERSECT
#define FCL_MULTIPLE_INTERSECT
#include "fcl/math/vec_3f.h"
#include <xmmintrin.h>
#include <pmmintrin.h>
namespace fcl
{
static inline __m128 sse_four_spheres_intersect(const Vec3f& o1, FCL_REAL r1,
const Vec3f& o2, FCL_REAL r2,
const Vec3f& o3, FCL_REAL r3,
const Vec3f& o4, FCL_REAL r4,
const Vec3f& o5, FCL_REAL r5,
const Vec3f& o6, FCL_REAL r6,
const Vec3f& o7, FCL_REAL r7,
const Vec3f& o8, FCL_REAL r8)
{
__m128 PX, PY, PZ, PR, QX, QY, QZ, QR;
PX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]);
PY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]);
PZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]);
PR = _mm_set_ps(r1, r2, r3, r4);
QX = _mm_set_ps(o5[0], o6[0], o7[0], o8[0]);
QY = _mm_set_ps(o5[1], o6[1], o7[1], o8[1]);
QZ = _mm_set_ps(o5[2], o6[2], o7[2], o8[2]);
QR = _mm_set_ps(r5, r6, r7, r8);
__m128 T1 = _mm_sub_ps(PX, QX);
__m128 T2 = _mm_sub_ps(PY, QY);
__m128 T3 = _mm_sub_ps(PZ, QZ);
__m128 T4 = _mm_add_ps(PR, QR);
T1 = _mm_mul_ps(T1, T1);
T2 = _mm_mul_ps(T2, T2);
T3 = _mm_mul_ps(T3, T3);
T4 = _mm_mul_ps(T4, T4);
T1 = _mm_add_ps(T1, T2);
T2 = _mm_sub_ps(R2, T3);
return _mm_cmple_ps(T1, T2);
}
static inline __m128 sse_four_spheres_four_AABBs_intersect(const Vec3f& o1, FCL_REAL r1,
const Vec3f& o2, FCL_REAL r2,
const Vec3f& o3, FCL_REAL r3,
const Vec3f& o4, FCL_REAL r4,
const Vec3f& min1, const Vec3f& max1,
const Vec3f& min2, const Vec3f& max2,
const Vec3f& min3, const Vec3f& max3,
const Vec3f& min4, const Vec3f& max4)
{
__m128 MINX, MINY, MINZ, MAXX, MAXX, MAXY, MAXZ, SX, SY, SZ, SR;
MINX = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]);
MAXX = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]);
MINY = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]);
MAXY = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]);
MINZ = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]);
MAXZ = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]);
SX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]);
SY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]);
SZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]);
SR = _mm_set_ps(r1, r2, r3, r4);
__m128 TX = _mm_max_ps(SX, MINX);
__m128 TY = _mm_max_ps(SY, MINY);
__m128 TZ = _mm_max_ps(SZ, MINZ);
TX = _mm_min_ps(TX, MAXX);
TY = _mm_min_ps(TY, MAXY);
TZ = _mm_min_ps(TZ, MAXZ);
__m128 DX = _mm_sub_ps(SX, TX);
__m128 DY = _mm_sub_ps(SY, TY);
__m128 DZ = _mm_sub_ps(SZ, TZ);
__m128 R2 = _mm_mul_ps(SR, SR);
DX = _mm_mul_ps(DX, DX);
DY = _mm_mul_ps(DY, DY);
DZ = _mm_mul_ps(DZ, DZ);
__m128 T1 = _mm_add_ps(DX, DY);
__m128 T2 = _mm_sub_ps(R2, DZ);
return _mm_cmple_ps(T1, T2);
}
static inline __m128 sse_four_AABBs_intersect(const Vec3f& min1, const Vec3f& max1,
const Vec3f& min2, const Vec3f& max2,
const Vec3f& min3, const Vec3f& max3,
const Vec3f& min4, const Vec3f& max4,
const Vec3f& min5, const Vec3f& max5,
const Vec3f& min6, const Vec3f& max6,
const Vec3f& min7, const Vec3f& max7,
const Vec3f& min8, const Vec3f& max8)
{
__m128 MIN1X, MIN1Y, MIN1Z, MAX1X, MAX1Y, MAX1Z, MIN2X, MIN2Y, MIN2Z, MAX2X, MAX2Y, MAX2Z;
MIN1X = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]);
MAX1X = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]);
MIN1Y = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]);
MAX1Y = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]);
MIN1Z = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]);
MAX1Z = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]);
MIN2X = _mm_set_ps(min5[0], min6[0], min7[0], min8[0]);
MAX2X = _mm_set_ps(max5[0], max6[0], max7[0], max8[0]);
MIN2Y = _mm_set_ps(min5[1], min6[1], min7[1], min8[1]);
MAX2Y = _mm_set_ps(max5[1], max6[1], max7[1], max8[1]);
MIN2Z = _mm_set_ps(min5[2], min6[2], min7[2], min8[2]);
MAX2Z = _mm_set_ps(max5[2], max6[2], max7[2], max8[2]);
__m128 AX = _mm_max_ps(MIN1X, MIN2X);
__m128 BX = _mm_min_ps(MAX1X, MAX2X);
__m128 AY = _mm_max_ps(MIN1Y, MIN2Y);
__m128 BY = _mm_min_ps(MAX1Y, MAX2Y);
__m128 AZ = _mm_max_ps(MIN1Z, MIN2Z);
__m128 BZ = _mm_min_ps(MAX1Z, MAX2Z);
__m128 T1 = _mm_cmple_ps(AX, BX);
__m128 T2 = _mm_cmple_ps(AY, BY);
__m128 T3 = _mm_cmple_ps(AZ, BZ);
__m128 T4 = _mm_and_ps(T1, T2);
return _mm_and_ps(T3, T4);
}
static bool four_spheres_intersect_and(const Vec3f& o1, FCL_REAL r1,
const Vec3f& o2, FCL_REAL r2,
const Vec3f& o3, FCL_REAL r3,
const Vec3f& o4, FCL_REAL r4,
const Vec3f& o5, FCL_REAL r5,
const Vec3f& o6, FCL_REAL r6,
const Vec3f& o7, FCL_REAL r7,
const Vec3f& o8, FCL_REAL r8)
{
__m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8);
return _mm_movemask_ps(CMP) == 15.f;
}
static bool four_spheres_intersect_or(const Vec3f& o1, FCL_REAL r1,
const Vec3f& o2, FCL_REAL r2,
const Vec3f& o3, FCL_REAL r3,
const Vec3f& o4, FCL_REAL r4,
const Vec3f& o5, FCL_REAL r5,
const Vec3f& o6, FCL_REAL r6,
const Vec3f& o7, FCL_REAL r7,
const Vec3f& o8, FCL_REAL r8)
{
__m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8);
return __mm_movemask_ps(CMP) > 0;
}
/** \brief four spheres versus four AABBs SIMD test */
static bool four_spheres_four_AABBs_intersect_and(const Vec3f& o1, FCL_REAL r1,
const Vec3f& o2, FCL_REAL r2,
const Vec3f& o3, FCL_REAL r3,
const Vec3f& o4, FCL_REAL r4,
const Vec3f& min1, const Vec3f& max1,
const Vec3f& min2, const Vec3f& max2,
const Vec3f& min3, const Vec3f& max3,
const Vec3f& min4, const Vec3f& max4)
{
__m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4);
return _mm_movemask_ps(CMP) == 15.f;
}
static bool four_spheres_four_AABBs_intersect_or(const Vec3f& o1, FCL_REAL r1,
const Vec3f& o2, FCL_REAL r2,
const Vec3f& o3, FCL_REAL r3,
const Vec3f& o4, FCL_REAL r4,
const Vec3f& min1, const Vec3f& max1,
const Vec3f& min2, const Vec3f& max2,
const Vec3f& min3, const Vec3f& max3,
const Vec3f& min4, const Vec3f& max4)
{
__m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4);
return _mm_movemask_ps(CMP) > 0;
}
/** \brief four AABBs versus four AABBs SIMD test */
static bool four_AABBs_intersect_and(const Vec3f& min1, const Vec3f& max1,
const Vec3f& min2, const Vec3f& max2,
const Vec3f& min3, const Vec3f& max3,
const Vec3f& min4, const Vec3f& max4,
const Vec3f& min5, const Vec3f& max5,
const Vec3f& min6, const Vec3f& max6,
const Vec3f& min7, const Vec3f& max7,
const Vec3f& min8, const Vec3f& max8)
{
__m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8);
return _mm_movemask_ps(CMP) == 15.f;
}
static bool four_AABBs_intersect_or(const Vec3f& min1, const Vec3f& max1,
const Vec3f& min2, const Vec3f& max2,
const Vec3f& min3, const Vec3f& max3,
const Vec3f& min4, const Vec3f& max4,
const Vec3f& min5, const Vec3f& max5,
const Vec3f& min6, const Vec3f& max6,
const Vec3f& min7, const Vec3f& max7,
const Vec3f& min8, const Vec3f& max8)
{
__m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8);
return _mm_movemask_ps(CMP) > 0;
}
}
#endif
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