Blender  V3.3
transform_inverse.h
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1 /* SPDX-License-Identifier: Apache-2.0
2  * Copyright 2011-2022 Blender Foundation */
3 
4 #pragma once
5 
7 
8 /* Custom cross and dot implementations that match Embree bit for bit.
9  * Normally we don't use SSE41/AVX outside the kernel, but for this it's
10  * important to match exactly for ray tracing precision. */
11 
13 {
14 #if defined(__AVX2__) && defined(__KERNEL_SSE2__)
15  const ssef sse_a = (const __m128 &)a;
16  const ssef sse_b = (const __m128 &)b;
17  const ssef r = shuffle<1, 2, 0, 3>(
18  ssef(_mm_fmsub_ps(sse_a, shuffle<1, 2, 0, 3>(sse_b), shuffle<1, 2, 0, 3>(sse_a) * sse_b)));
19  return (const float3 &)r;
20 #endif
21 
22  return cross(a, b);
23 }
24 
26 {
27 #ifdef __SSE4_1__
28  return _mm_cvtss_f32(_mm_dp_ps((const __m128 &)a, (const __m128 &)b, 0x7F));
29 #endif
30 
31  return dot(a, b);
32 }
33 
35 {
36  /* This implementation matches the one in Embree exactly, to ensure consistent
37  * results with the ray intersection of instances. */
38  float3 x = make_float3(tfm.x.x, tfm.y.x, tfm.z.x);
39  float3 y = make_float3(tfm.x.y, tfm.y.y, tfm.z.y);
40  float3 z = make_float3(tfm.x.z, tfm.y.z, tfm.z.z);
41  float3 w = make_float3(tfm.x.w, tfm.y.w, tfm.z.w);
42 
43  /* Compute determinant. */
45 
46  if (det == 0.0f) {
47  /* Matrix is degenerate (e.g. 0 scale on some axis), ideally we should
48  * never be in this situation, but try to invert it anyway with tweak.
49  *
50  * This logic does not match Embree which would just give an invalid
51  * matrix. A better solution would be to remove this and ensure any object
52  * matrix is valid. */
53  x.x += 1e-8f;
54  y.y += 1e-8f;
55  z.z += 1e-8f;
56 
57  det = transform_inverse_dot(x, cross(y, z));
58  if (det == 0.0f) {
59  det = FLT_MAX;
60  }
61  }
62 
63  /* Divide adjoint matrix by the determinant to compute inverse of 3x3 matrix. */
64  const float3 inverse_x = transform_inverse_cross(y, z) / det;
65  const float3 inverse_y = transform_inverse_cross(z, x) / det;
66  const float3 inverse_z = transform_inverse_cross(x, y) / det;
67 
68  /* Compute translation and fill transform. */
69  Transform itfm;
70  itfm.x = float3_to_float4(inverse_x, -transform_inverse_dot(inverse_x, w));
71  itfm.y = float3_to_float4(inverse_y, -transform_inverse_dot(inverse_y, w));
72  itfm.z = float3_to_float4(inverse_z, -transform_inverse_dot(inverse_z, w));
73 
74  return itfm;
75 }
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_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble GLdouble r _GL_VOID_RET _GL_VOID GLfloat GLfloat r _GL_VOID_RET _GL_VOID GLint GLint r _GL_VOID_RET _GL_VOID GLshort GLshort r _GL_VOID_RET _GL_VOID GLdouble GLdouble r
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint y
SIMD_FORCE_INLINE const btScalar & w() const
Return the w value.
Definition: btQuadWord.h:119
#define ccl_device_forceinline
Definition: cuda/compat.h:35
#define ccl_device_inline
Definition: cuda/compat.h:34
#define CCL_NAMESPACE_END
Definition: cuda/compat.h:9
#define make_float3(x, y, z)
Definition: metal/compat.h:204
static unsigned a[3]
Definition: RandGen.cpp:78
T dot(const vec_base< T, Size > &a, const vec_base< T, Size > &b)
vec_base< T, 3 > cross(const vec_base< T, 3 > &a, const vec_base< T, 3 > &b)
static const pxr::TfToken b("b", pxr::TfToken::Immortal)
ccl_device_inline Transform transform_inverse_impl(const Transform tfm)
CCL_NAMESPACE_BEGIN ccl_device_forceinline float3 transform_inverse_cross(const float3 a, const float3 b)
ccl_device_forceinline float transform_inverse_dot(const float3 a, const float3 b)
ccl_device_inline float4 float3_to_float4(const float3 a)
Definition: util/math.h:505